From e64f69695c3c4ea5b938f939f6b40f88a96718c5 Mon Sep 17 00:00:00 2001 From: Stephen Seo Date: Thu, 10 Aug 2023 13:43:22 +0900 Subject: [PATCH] Minor fixes/tweaks --- src/walker.h | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/walker.h b/src/walker.h index b9f6ce9..9c38a2f 100644 --- a/src/walker.h +++ b/src/walker.h @@ -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 =