Darkages/SpotMicroESP32-Leika
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🎨 Updates and simplifies command handling

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This commit is contained in:
Rune Harlyk
2025-09-01 18:41:59 +02:00
parent de3912ff10
commit e5bf10cdb0
14 changed files with 111 additions and 77 deletions
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app/src/lib/gait.ts
+9 -10
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@@ -14,7 +14,6 @@ export interface gait_state_t {
}
export interface ControllerCommand {
stop: number
lx: number
ly: number
rx: number
@@ -61,11 +60,11 @@ export abstract class GaitState {
map_command(command: ControllerCommand) {
const newCommand = {
step_height: 0.4 + (command.s1 / 128 + 1) / 2,
step_x: command.ly / 128,
step_z: -command.lx / 128,
step_velocity: command.s / 128 + 1,
step_angle: command.rx / 128,
step_height: 0.4 + (command.s1 + 1) / 2,
step_x: command.ly,
step_z: -command.lx,
step_velocity: command.s,
step_angle: command.rx,
step_depth: 0.002
}
@@ -112,10 +111,10 @@ 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 / 8
body_state.psi = command.ry / 8
body_state.xm = command.ly / 2 / 100
body_state.zm = command.lx / 2 / 100
body_state.phi = command.rx
body_state.psi = command.ry
body_state.xm = command.ly / 4
body_state.zm = command.lx / 4
body_state.feet = this.default_feet_pos
return body_state
}