🎨 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
@@ -14,7 +14,7 @@ class PhaseGaitState : public GaitState {
    uint8_t contact_phases[4][8];
    float shifts[4][3];

-    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 {
        mapCommand(command);
        this->dt = dt;
        updatePhase();