From f57d79897193e13542d2d3d96375722e5ea3e1f2 Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Sun, 10 Nov 2024 12:21:54 +0100 Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=90=20Updates=20body=20shift=20amount?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- esp32/lib/ESP32-sveltekit/Gait/GaitState.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h index 3eb0464..962fa52 100644 --- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h +++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h @@ -190,7 +190,7 @@ class EightPhaseWalkState : public PhaseGaitState { EightPhaseWalkState() { uint8_t contact[4][8] = { {1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}}; - float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, -0.2f}}; + float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.35f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.35f, 0, -0.2f}}; for (uint8_t i = 0; i < 4; ++i) { for (uint8_t j = 0; j < 8; ++j) { contact_phases[i][j] = contact[i][j];