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Minor fixes/tweaks
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This commit is contained in:
Stephen Seo 2023-08-10 13:43:22 +09:00
parent 0c23c593c0
commit e64f69695c
1 changed files with 10 additions and 10 deletions
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20
src/walker.h
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@ -11,11 +11,11 @@
constexpr float FEET_RADIUS_PLACEMENT_CHECK_SCALE = 1.0F;
constexpr float FEET_RADIUS_PLACEMENT_SCALE = 0.9F;
constexpr float FEET_TARGET_RATE = 1.0F;
constexpr float BODY_TARGET_SPEED = 1.5F;
constexpr float BODY_TARGET_SPEED = 2.0F;
constexpr float FEET_LIFT_HEIGHT = 1.0F;
constexpr float FEET_LIFT_SPEED = 5.0F;
constexpr float FEET_HORIZ_MOVE_SPEED = 7.0F;
constexpr float FEET_INIT_POS_VARIANCE_DIV = 4.0F;
constexpr float FEET_LIFT_SPEED = 5.5F;
constexpr float FEET_HORIZ_MOVE_SPEED = 8.0F;
constexpr float FEET_INIT_POS_VARIANCE_DIV = 3.0F;
class Walker {
public:
@ -195,15 +195,15 @@ void Walker::update(float dt, const TBBS &bbs, unsigned int width,
update_leg_fn(target_leg_nw, leg_nw, nw_flags,
((ne_flags & 7) == 1 ? 1 : 0) + ((sw_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_sw, leg_sw, sw_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((ne_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_ne, leg_ne, ne_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((sw_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_se, leg_se, se_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((ne_flags & 7) == 1 ? 1 : 0) +
((sw_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_ne, leg_ne, ne_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((sw_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
update_leg_fn(target_leg_sw, leg_sw, sw_flags,
((nw_flags & 7) == 1 ? 1 : 0) + ((ne_flags & 7) == 1 ? 1 : 0) +
((se_flags & 7) == 1 ? 1 : 0));
// legs to target pos
// leg_nw =