Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🐍 Restricts angular movement

Browse Source
This commit is contained in:
Rune Harlyk
2024-07-17 23:49:49 +02:00
committed by Rune Harlyk
parent 080c18cf19
commit f76d57f331
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/src/lib/components/Visualization.svelte
+3 -2
View File
@@ -82,8 +82,8 @@
switch (get(mode)) { switch (get(mode)) {
case ModesEnum.Stand: case ModesEnum.Stand:
settings.omega = 0 settings.omega = 0
settings.phi = data.rx / 4 settings.phi = data.rx / 8
settings.psi = data.ry / 4 settings.psi = data.ry / 8
settings.xm = data.ly / 2 settings.xm = data.ly / 2
settings.zm = data.lx / 2 settings.zm = data.lx / 2
break; break;
@@ -223,6 +223,7 @@
const orient_robot = (robot: URDFRobot, toes:Vector3[]) => { const orient_robot = (robot: URDFRobot, toes:Vector3[]) => {
if (settings['Robot transform controls'] || !settings['Auto orient robot']) return if (settings['Robot transform controls'] || !settings['Auto orient robot']) return
robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y)); robot.position.y = robot.position.y - Math.min(...toes.map(toe => toe.y));
robot.position.z = lerp(robot.position.z, -settings.xm / 100, 0.1); robot.position.z = lerp(robot.position.z, -settings.xm / 100, 0.1);
robot.position.x = lerp(robot.position.x, -settings.zm / 100, 0.1); robot.position.x = lerp(robot.position.x, -settings.zm / 100, 0.1);