🧼 Splits motions state to own files

2024-11-12 12:09:06 +01:00
parent 8283e24407
commit dcfce13f4b
10 changed files with 365 additions and 337 deletions
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <gait/state.h>
+
+class RestState : public GaitState {
+  protected:
+    const char *name() const override { return "Rest"; }
+
+    void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
+        body_state.omega = 0;
+        body_state.phi = 0;
+        body_state.psi = 0;
+        body_state.xm = 0;
+        body_state.ym = getDefaultHeight() / 2;
+        body_state.zm = 0;
+        body_state.updateFeet(default_feet_pos);
+    }
+};