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🎨 Adds speed factor between gaits

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This commit is contained in:
Rune Harlyk
2025-09-03 17:10:48 +02:00
committed by Rune Harlyk
parent 774c546487
commit ea8ddb43ef
1 changed files with 6 additions and 1 deletions
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esp32/include/gait/walk_state.h
+6 -1
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@@ -16,6 +16,7 @@ class WalkState : public GaitState {
float step_length = 0.0f; float step_length = 0.0f;
float phase_lead = 0.08f; float phase_lead = 0.08f;
float feather = 0.05f; float feather = 0.05f;
float speed_factor = 0.5;
static constexpr uint8_t BEZIER_POINTS = 12; static constexpr uint8_t BEZIER_POINTS = 12;
static constexpr std::array<float, BEZIER_POINTS> COMBINATORIAL_VALUES = { static constexpr std::array<float, BEZIER_POINTS> COMBINATORIAL_VALUES = {
combinatorial_constexpr(11, 0), // 1 combinatorial_constexpr(11, 0), // 1
@@ -43,6 +44,7 @@ class WalkState : public GaitState {
void set_mode_crawl(float duty = 0.85f, std::array<int, 4> order = {0, 3, 1, 2}) { void set_mode_crawl(float duty = 0.85f, std::array<int, 4> order = {0, 3, 1, 2}) {
mode = WALK_GAIT::CRAWL; mode = WALK_GAIT::CRAWL;
speed_factor = 0.1;
stand_offset = duty; stand_offset = duty;
const float base[4] = {0.f, 0.25f, 0.5f, 0.75f}; const float base[4] = {0.f, 0.25f, 0.5f, 0.75f};
for (int i = 0; i < 4; ++i) phase_offset[order[i]] = base[i]; for (int i = 0; i < 4; ++i) phase_offset[order[i]] = base[i];
@@ -50,6 +52,7 @@ class WalkState : public GaitState {
void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) { void set_mode_trot(float duty = 0.6f, std::array<float, 4> offsets = {0.f, 0.5f, 0.5f, 0.f}) {
mode = WALK_GAIT::TROT; mode = WALK_GAIT::TROT;
speed_factor = 0.5;
stand_offset = duty; stand_offset = duty;
for (int i = 0; i < 4; ++i) phase_offset[i] = std::fmod(std::fabs(offsets[i]), 1.f); for (int i = 0; i < 4; ++i) phase_offset[i] = std::fmod(std::fabs(offsets[i]), 1.f);
} }
@@ -66,7 +69,9 @@ class WalkState : public GaitState {
} }
protected: protected:
void updatePhase(float dt) { phase_time = std::fmod(phase_time + dt * gait_state.step_velocity * 2, 1.0f); } void updatePhase(float dt) {
phase_time = std::fmod(phase_time + dt * gait_state.step_velocity * speed_factor, 1.0f);
}
void updateBodyPosition(body_state_t &body_state, float dt) { void updateBodyPosition(body_state_t &body_state, float dt) {
if (mode != WALK_GAIT::CRAWL) return; if (mode != WALK_GAIT::CRAWL) return;