🎨 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
@@ -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);