Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🐛 Makes step height dynamic

Browse Source
This commit is contained in:
Rune Harlyk
2025-09-04 21:03:09 +02:00
parent 78d01533f4
commit c85ac41ebc
2 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
esp32/include/gait/kinematic_constraints.h
+2 -1
View File
@@ -52,7 +52,8 @@ class KinConfig {
static constexpr float max_body_height = max_leg_reach * 0.9; static constexpr float max_body_height = max_leg_reach * 0.9;
static constexpr float body_height_range = max_body_height - min_body_height; static constexpr float body_height_range = max_body_height - min_body_height;
static constexpr float max_step_length = 1; static constexpr float max_step_length = max_leg_reach * 0.8;
static constexpr float max_step_height = max_leg_reach / 2;
// Default constant // Default constant
static constexpr float default_step_depth = 0.002; static constexpr float default_step_depth = 0.002;
esp32/include/motion.h
+1 -1
View File
@@ -76,7 +76,7 @@ class MotionService {
break; break;
} }
case MOTION_STATE::WALK: { 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_x = command.ly * KinConfig::max_step_length;
gait_state.step_z = -command.lx * KinConfig::max_step_length; gait_state.step_z = -command.lx * KinConfig::max_step_length;
gait_state.step_velocity = command.s; gait_state.step_velocity = command.s;