🎨 Updates and simplifies command handling

2025-09-01 18:41:59 +02:00
parent de3912ff10
commit e5bf10cdb0
14 changed files with 111 additions and 77 deletions
@@ -27,7 +27,7 @@ class EightPhaseWalkState : public PhaseGaitState {
        }
    }

-    void step(body_state_t &body_state, ControllerCommand command, float dt = 0.02f) override {
+    void step(body_state_t &body_state, CommandMsg command, float dt = 0.02f) override {
        return PhaseGaitState::step(body_state, command, dt);
    }
 };