🎨 Update the rotation command handling

2025-09-01 22:37:58 +02:00
parent df087decdb
commit d7a6bffe0a
2 changed files with 4 additions and 4 deletions
@@ -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