Darkages/SpotMicroESP32-Leika
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🎨 Update the rotation command handling

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This commit is contained in:
Rune Harlyk
2025-09-01 22:37:58 +02:00
parent df087decdb
commit d7a6bffe0a
2 changed files with 4 additions and 4 deletions
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app/src/lib/gait.ts
+2 -2
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@@ -111,8 +111,8 @@ export class StandState extends GaitState {
step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
body_state.omega = 0
body_state.phi = command.rx
body_state.psi = command.ry
body_state.phi = command.rx * 10 * (Math.PI / 2)
body_state.psi = command.ry * 10 * (Math.PI / 2)
body_state.xm = command.ly / 4
body_state.zm = command.lx / 4
body_state.feet = this.default_feet_pos
esp32/include/motion.h
+2 -2
View File
@@ -64,8 +64,8 @@ class MotionService {
switch (motionState) {
case MOTION_STATE::STAND: {
body_state.phi = command.rx; // * 0.254f;
body_state.psi = command.ry; // * 0.254f;
body_state.phi = command.rx * 10 * (float)M_PI_2;
body_state.psi = command.ry * 10 * (float)M_PI_2;
body_state.xm = command.ly / 4;
body_state.zm = command.lx / 4;
body_state.updateFeet(kinematics.default_feet_positions);