Rune Harlyk
64 lines
1.4 KiB
TypeScript
64 lines
1.4 KiB
TypeScript
import type { ControllerInput } from '$lib/types/models'
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import { persistentStore } from '$lib/utilities/svelte-utilities'
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import { writable, type Writable } from 'svelte/store'
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export const emulateModel = writable(true)
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export const jointNames = persistentStore('joint_names', <string[]>[])
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export const model = writable()
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export const modes = [
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'deactivated',
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'idle',
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'calibration',
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'rest',
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'stand',
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'walk',
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'animate'
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] as const
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export type Modes = (typeof modes)[number]
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export enum ModesEnum {
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Deactivated = 0,
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Idle = 1,
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Calibration = 2,
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Rest = 3,
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Stand = 4,
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Walk = 5,
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Animate = 6
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}
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export enum WalkGaits {
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Trot = 0,
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Crawl = 1
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}
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export const walkGaits = ['trot', 'crawl'] as const
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export const walkGaitLabels: Record<WalkGaits, string> = {
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[WalkGaits.Trot]: 'Trot',
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[WalkGaits.Crawl]: 'Crawl'
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}
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export const walkGaitToMode = (gait: WalkGaits): 'trot' | 'crawl' => {
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return gait === WalkGaits.Trot ? 'trot' : 'crawl'
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}
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export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated)
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export const walkGait: Writable<WalkGaits> = writable(WalkGaits.Trot)
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export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0])
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export const kinematicData = writable([0, 0, 0, 0, 1, 0])
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export const input: Writable<ControllerInput> = writable({
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left: { x: 0, y: 0 },
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right: { x: 0, y: 0 },
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height: 0.5,
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speed: 0.5,
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s1: 0.05
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})
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