Rune Harlyk
63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
#pragma once
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#include <kinematics.h>
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#include <utils/math_utils.h>
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#include <cmath>
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class KinConfig {
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public:
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#if defined(SPOTMICRO_ESP32)
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static constexpr float coxa = 60.5f / 100.0f;
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static constexpr float coxa_offset = 10.0f / 100.0f;
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static constexpr float femur = 111.2f / 100.0f;
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static constexpr float tibia = 118.5f / 100.0f;
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static constexpr float L = 207.5f / 100.0f;
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static constexpr float W = 78.0f / 100.0f;
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#elif defined(SPOTMICRO_ESP32_MINI)
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static constexpr float coxa = 35.0f / 100.0f;
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static constexpr float coxa_offset = 0.0f / 100.0f;
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static constexpr float femur = 60.0f / 100.0f;
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static constexpr float tibia = 60.0f / 100.0f;
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static constexpr float L = 160.0f / 100.0f;
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static constexpr float W = 80.0f / 100.0f;
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#elif defined(SPOTMICRO_YERTLE)
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static constexpr float coxa = 35.0f / 100.0f;
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static constexpr float coxa_offset = 0.0f;
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static constexpr float femur = 130.0f / 100.0f;
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static constexpr float tibia = 130.0f / 100.0f;
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static constexpr float L = 240.0f / 100.0f;
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static constexpr float W = 78.0f / 100.0f;
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#endif
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static constexpr float mountOffsets[4][3] = {
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{L / 2, 0, W / 2}, {L / 2, 0, -W / 2}, {-L / 2, 0, W / 2}, {-L / 2, 0, -W / 2}};
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static constexpr float default_feet_positions[4][4] = {
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{mountOffsets[0][0], 0, mountOffsets[0][2] + coxa, 1},
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{mountOffsets[1][0], 0, mountOffsets[1][2] - coxa, 1},
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{mountOffsets[2][0], 0, mountOffsets[2][2] + coxa, 1},
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{mountOffsets[3][0], 0, mountOffsets[3][2] - coxa, 1},
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};
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// Max constants
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static constexpr float max_roll = 15 * (float)M_PI_2;
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static constexpr float max_pitch = 15 * (float)M_PI_2;
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static constexpr float max_body_shift_x = W / 3;
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static constexpr float max_body_shift_z = W / 3;
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static constexpr float max_leg_reach = femur + tibia - coxa_offset;
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static constexpr float min_body_height = max_leg_reach * 0.45;
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static constexpr float max_body_height = max_leg_reach * 0.9;
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static constexpr float body_height_range = max_body_height - min_body_height;
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static constexpr float max_step_length = max_leg_reach * 0.8;
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static constexpr float max_step_height = max_leg_reach / 2;
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// Default constant
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static constexpr float default_step_depth = 0.002;
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static constexpr float default_body_height = min_body_height + body_height_range / 2;
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static constexpr float default_step_height = default_body_height / 2;
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};
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