🎨 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
@@ -6,7 +6,7 @@ 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 {
+    void step(body_state_t &body_state, CommandMsg command, float dt = 0.02f) override {
        body_state.omega = 0;
        body_state.phi = 0;
        body_state.psi = 0;