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🎨 Better base walking speed

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This commit is contained in:
Rune Harlyk
2025-09-04 14:11:13 +02:00
committed by Rune Harlyk
parent 2f46484e0a
commit cddb6023e7
1 changed files with 2 additions and 2 deletions
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esp32/include/gait/walk_state.h
+2 -2
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@@ -16,7 +16,7 @@ class WalkState : public GaitState {
float step_length = 0.0f; float step_length = 0.0f;
float phase_lead = 0.08f; float phase_lead = 0.08f;
float feather = 0.05f; float feather = 0.05f;
float speed_factor = 0.5; float speed_factor = 1;
float com_shift_gain = 0.35f; float com_shift_gain = 0.35f;
float com_shift_limit = 0.06f; float com_shift_limit = 0.06f;
float com_tau = 0.12f; float com_tau = 0.12f;
@@ -85,7 +85,7 @@ class WalkState : public GaitState {
void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) { void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) {
mode = WALK_GAIT::TROT; mode = WALK_GAIT::TROT;
speed_factor = 0.5; speed_factor = 1;
stand_offset = duty; stand_offset = duty;
for (int i = 0; i < 4; ++i) phase_offset[i] = std::fmod(std::fabs(offsets[i]), 1.f); for (int i = 0; i < 4; ++i) phase_offset[i] = std::fmod(std::fabs(offsets[i]), 1.f);
} }