✨ Adds skill system

esp32/include/kinematics.h

@@ -38,7 +38,6 @@ class KinConfig {
         {mountOffsets[3][0], 0, mountOffsets[3][2] - coxa, 1},
     };
 
-    // Max constants
     static constexpr float max_roll = 15 * DEG2RAD_F;
     static constexpr float max_pitch = 15 * DEG2RAD_F;
 
@@ -60,12 +59,85 @@ class KinConfig {
     static constexpr float default_step_height = default_body_height / 2;
 };
 
+struct displacement_state_t {
+    float x {0};
+    float y {0};
+    float z {0};
+    float roll {0};
+    float pitch {0};
+    float yaw {0};
+
+    void reset() { x = y = z = roll = pitch = yaw = 0; }
+    float distance() const { return std::sqrt(x * x + z * z); }
+};
+
+struct skill_target_t {
+    float target_x {0};
+    float target_z {0};
+    float target_yaw {0};
+
+    float traveled_x {0};
+    float traveled_z {0};
+    float rotated {0};
+
+    bool active {false};
+
+    void set(float x, float z, float yaw) {
+        target_x = x;
+        target_z = z;
+        target_yaw = yaw;
+        traveled_x = traveled_z = rotated = 0;
+        active = true;
+    }
+
+    void reset() {
+        target_x = target_z = target_yaw = 0;
+        traveled_x = traveled_z = rotated = 0;
+        active = false;
+    }
+
+    void accumulate(float dx, float dz, float dyaw) {
+        traveled_x += dx;
+        traveled_z += dz;
+        rotated += dyaw;
+    }
+
+    bool isComplete() const {
+        if (!active) return false;
+        bool x_ok = (target_x == 0) || (target_x > 0 ? traveled_x >= target_x : traveled_x <= target_x);
+        bool z_ok = (target_z == 0) || (target_z > 0 ? traveled_z >= target_z : traveled_z <= target_z);
+        bool yaw_ok = (target_yaw == 0) || (target_yaw > 0 ? rotated >= target_yaw : rotated <= target_yaw);
+        return x_ok && z_ok && yaw_ok;
+    }
+
+    float progress() const {
+        if (!active) return 0;
+        float total_target = std::fabs(target_x) + std::fabs(target_z) + std::fabs(target_yaw);
+        if (total_target == 0) return 1;
+
+        auto clampProgress = [](float traveled, float target) -> float {
+            if (target == 0) return 0;
+            float p = traveled / target;
+            return std::clamp(p, 0.0f, 1.0f) * std::fabs(target);
+        };
+
+        float total_progress = clampProgress(traveled_x, target_x) + clampProgress(traveled_z, target_z) +
+                               clampProgress(rotated, target_yaw);
+        return total_progress / total_target;
+    }
+};
+
 struct alignas(16) body_state_t {
     float omega {0}, phi {0}, psi {0}, xm {0}, ym {KinConfig::default_body_height}, zm {0};
     float feet[4][4];
 
+    displacement_state_t cumulative;
+    skill_target_t skill;
+
     void updateFeet(const float newFeet[4][4]) { COPY_2D_ARRAY_4x4(feet, newFeet); }
 
+    void resetDisplacement() { cumulative.reset(); }
+
     bool operator==(const body_state_t &other) const {
         if (!IS_ALMOST_EQUAL(omega, other.omega) || !IS_ALMOST_EQUAL(phi, other.phi) ||
             !IS_ALMOST_EQUAL(psi, other.psi) || !IS_ALMOST_EQUAL(xm, other.xm) || !IS_ALMOST_EQUAL(ym, other.ym) ||

esp32/include/motion.h

@@ -3,6 +3,7 @@
 
 #include <ArduinoJson.h>
 #include "esp_timer.h"
+#include <functional>
 
 #include <kinematics.h>
 #include <peripherals/gesture.h>
@@ -18,6 +19,8 @@
 
 enum class MOTION_STATE { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, WALK };
 
+using SkillCompleteCallback = std::function<void()>;
+
 class MotionService {
   public:
     void begin();
@@ -30,6 +33,10 @@ class MotionService {
 
     void handleMode(JsonVariant &root, int originId);
 
+    void handleDisplacement(JsonVariant &root, int originId);
+
+    void handleSkill(JsonVariant &root, int originId);
+
     void setState(MotionState *newState);
 
     void handleGestures(const gesture_t ges);
@@ -42,6 +49,39 @@ class MotionService {
 
     inline bool isActive() { return state != nullptr; }
 
+    void resetDisplacement() { body_state.resetDisplacement(); }
+
+    void setSkillTarget(float x, float z, float yaw) { body_state.skill.set(x, z, yaw); }
+
+    void clearSkill() { body_state.skill.reset(); }
+
+    bool isSkillActive() const { return body_state.skill.active; }
+
+    bool isSkillComplete() const { return body_state.skill.isComplete(); }
+
+    const displacement_state_t &getDisplacement() const { return body_state.cumulative; }
+
+    const skill_target_t &getSkill() const { return body_state.skill; }
+
+    void getDisplacementResult(JsonVariant &root) const {
+        root["x"] = body_state.cumulative.x;
+        root["y"] = body_state.cumulative.y;
+        root["z"] = body_state.cumulative.z;
+        root["yaw"] = body_state.cumulative.yaw;
+        root["distance"] = body_state.cumulative.distance();
+        root["skill_active"] = body_state.skill.active;
+        root["skill_target_x"] = body_state.skill.target_x;
+        root["skill_target_z"] = body_state.skill.target_z;
+        root["skill_target_yaw"] = body_state.skill.target_yaw;
+        root["skill_traveled_x"] = body_state.skill.traveled_x;
+        root["skill_traveled_z"] = body_state.skill.traveled_z;
+        root["skill_rotated"] = body_state.skill.rotated;
+        root["skill_progress"] = body_state.skill.progress();
+        root["skill_complete"] = body_state.skill.isComplete();
+    }
+
+    void setSkillCompleteCallback(SkillCompleteCallback callback) { skillCompleteCallback = callback; }
+
   private:
     Kinematics kinematics;
 
@@ -63,6 +103,11 @@ class MotionService {
     float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
 
     int64_t lastUpdate = esp_timer_get_time();
+
+    SkillCompleteCallback skillCompleteCallback = nullptr;
+    bool skillWasComplete = false;
+
+    void checkSkillComplete();
 };
 
 #endif

esp32/include/motion_states/walk_state.h

@@ -98,11 +98,33 @@ class WalkState : public MotionState {
 
         step_length = std::hypot(gait_state.step_x, gait_state.step_z);
         if (gait_state.step_x < 0.0f) step_length = -step_length;
+
+        const bool moving = !isZero(gait_state.step_x) || !isZero(gait_state.step_z) || !isZero(gait_state.step_angle);
+        updateDisplacement(body_state, dt, moving);
+
         updatePhase(dt);
         updateBodyPosition(body_state, dt);
         updateFeetPositions(body_state);
     }
 
+    void updateDisplacement(body_state_t &body_state, float dt, bool moving) {
+        if (!moving) return;
+
+        float dx_local = gait_state.step_x * gait_state.step_velocity * dt * speed_factor;
+        float dz_local = gait_state.step_z * gait_state.step_velocity * dt * speed_factor;
+        float dyaw = gait_state.step_angle * gait_state.step_velocity * dt * speed_factor;
+
+        if (body_state.skill.active) {
+            body_state.skill.accumulate(dx_local, dz_local, dyaw);
+        }
+
+        float cos_yaw = std::cos(body_state.cumulative.yaw);
+        float sin_yaw = std::sin(body_state.cumulative.yaw);
+        body_state.cumulative.x += dx_local * cos_yaw - dz_local * sin_yaw;
+        body_state.cumulative.z += dx_local * sin_yaw + dz_local * cos_yaw;
+        body_state.cumulative.yaw += dyaw;
+    }
+
   protected:
     void handleCommand(const CommandMsg &cmd) override {
         target_body_state.ym = KinConfig::min_body_height + cmd.h * KinConfig::body_height_range;