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Fix walk acceleration #1514

Merged
merged 5 commits into from
Jan 21, 2025
Merged

Fix walk acceleration #1514

merged 5 commits into from
Jan 21, 2025

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schluis
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@schluis schluis commented Nov 23, 2024

Why? What?

  • Now, also the backwards acceleration is limited
  • It's always still possible to directly stop
  • Reduces turn speed
    • When this is too high, the robot falls forwards when the hip-yaw-pitch opens
  • Reduces side-steps-size

How to Test

Let it walk

@schluis schluis enabled auto-merge November 23, 2024 23:14
@schluis schluis force-pushed the fix-walk-acceleration branch 4 times, most recently from bd5ce02 to d25e667 Compare November 24, 2024 08:45
@philipniklas-r philipniklas-r mentioned this pull request Nov 28, 2024
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knoellle
knoellle reviewed Jan 9, 2025
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Code LGTM, still needs testing

@schluis
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schluis commented Jan 16, 2025

I think we can merge now, it looked good in the test game last wednesday

@schluis schluis force-pushed the fix-walk-acceleration branch from da3525f to 0f6fdb3 Compare January 16, 2025 21:11
@schluis schluis force-pushed the fix-walk-acceleration branch from 0f6fdb3 to ff5d8dc Compare January 21, 2025 11:52
knoellle
knoellle approved these changes Jan 21, 2025
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LGTM

@schluis schluis added this pull request to the merge queue Jan 21, 2025
Merged via the queue into HULKs:main with commit dbfc207 Jan 21, 2025
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@schluis schluis deleted the fix-walk-acceleration branch January 21, 2025 19:12
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@knoellle knoellle knoellle approved these changes

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@schluis @knoellle @Franziska-Sophie