Darkages/SpotMicroESP32-Leika
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Updated servo angles and kinematic data

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This commit is contained in:
Niklas Jensen
2026-01-02 12:12:40 +01:00
committed by nikguin04
parent f25aba5f29
commit cdaa60d0e1
6 changed files with 297 additions and 27 deletions
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app/src/lib/stores/model-store.ts
+2 -2
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@@ -1,4 +1,4 @@
import { HumanInputData, ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/websocket_message'
import { HumanInputData, KinematicData, ModeData, ModesEnum, WalkGaitData, WalkGaits } from '$lib/platform_shared/websocket_message'
import { persistentStore } from '$lib/utilities/svelte-utilities'
import { writable, type Writable } from 'svelte/store'
@@ -14,7 +14,7 @@ export const walkGait: Writable<WalkGaitData> = writable( WalkGaitData.create({g
export const outControllerData = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
export const kinematicData = writable([0, 0, 0, 0, 1, 0])
export const kinematicData = writable(KinematicData.create())
export const input: Writable<HumanInputData> = writable( HumanInputData.create( {left: {x:0,y:0}, right: {x:0,y:0}, height:0, s1:0, speed:0} ) )
app/src/lib/stores/socket-store.ts
+5 -8
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@@ -1,19 +1,16 @@
import { AnglesData } from '$lib/platform_shared/websocket_message'
import { writable, type Writable } from 'svelte/store'
import { type angles } from '$lib/types/models'
export const servoAnglesOut: Writable<number[]> = writable([
0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
])
export const servoAngles: Writable<number[]> = writable([
0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90
])
export const servoAnglesOut: Writable<AnglesData> = writable(AnglesData.create({angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90]}))
export const servoAngles: Writable<AnglesData> = writable(AnglesData.create({angles: [0, 45, -90, 0, 45, -90, 0, 45, -90, 0, 45, -90]}))
export const logs = writable([] as string[])
export const mpu = writable({ heading: 0 })
export const sonar = writable([0, 0])
export const distances = writable({})
export interface socketDataCollection {
angles: Writable<angles>
angles: Writable<AnglesData>
logs: Writable<string[]>
mpu: Writable<unknown>
distances: Writable<unknown>