🐛 Makes step height dynamic

2025-09-04 21:03:09 +02:00
parent 78d01533f4
commit c85ac41ebc
2 changed files with 3 additions and 2 deletions
@@ -76,7 +76,7 @@ class MotionService {
                break;
            }
            case MOTION_STATE::WALK: {
-                gait_state.step_height = KinConfig::default_step_height + command.s1;
+                gait_state.step_height = command.s1 * KinConfig::max_step_height;
                gait_state.step_x = command.ly * KinConfig::max_step_length;
                gait_state.step_z = -command.lx * KinConfig::max_step_length;
                gait_state.step_velocity = command.s;