30 lines
865 B
C++
30 lines
865 B
C++
 
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#pragma once
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#include "Comms.h"
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#include "GaitEngine.h"
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#include "BodyPose.h"
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struct MapperOutput {
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Twist twist;
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PoseCommand pose;
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bool armed = false;
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bool stand_request = false;
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bool walk_active = false;
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bool mode_b = false;
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bool gait_wave = false;
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bool remote_gyro_enabled = false;
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bool robot_gyro_enabled = false;
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};
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class InputMapper {
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public:
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// heading_deg is the robot's current tracked heading estimate; only mode B uses it.
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MapperOutput map(const CmdPacket& p, float heading_deg, float dt);
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private:
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float heading_target_deg_ = 0;
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static constexpr float MAX_TURN_RATE_DEG_S = 90.0f;
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static constexpr float HEADING_KP = 2.0f;
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static constexpr float MAX_LINEAR_MM_S = 150.0f; // tune to your leg workspace / servo speed
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static constexpr float MAX_POSE_OFFSET_MM = 40.0f;
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static constexpr float MAX_TILT_DEG = 20.0f;
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};
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