mangavalkandClaude Opus 5.5
ad77b06c36
Robot-side firmware (Teensy 4.0) imported unchanged as extracted. platformio.ini defines [env:robot] (teensy40) and [env:remote] (teensy41); scripts/select_src_dir.py points each env at its own sketch folder so robot/ and remote/ stay Arduino-style sketches. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
16 lines
611 B
C++
16 lines
611 B
C++
#pragma once
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#include "Kinematics.h"
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class Limits {
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public:
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// Clamps a foot target into a conservative safe envelope around the leg's neutral stance.
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static FootTarget clampWorkspace(int leg_index, const FootTarget& target);
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// Rate-limits a joint angle change to the servo's real max speed.
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static float clampJointRate(float current_deg, float target_deg, float max_deg_per_sec, float dt);
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// Coarse safety check: are enough legs grounded right now to be stable.
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// A real support-polygon/center-of-mass check is a good later upgrade.
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static bool stancePolygonOk(const bool in_stance[6]);
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};
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