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Initial side step fix #1808

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Merged
merged 3 commits into from
Mar 24, 2025
Merged

Initial side step fix #1808

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0791064
remove fuckup
schluis Mar 18, 2025
4402ed4
initial side_bonus only after zero step
schluis Mar 18, 2025
bdd24c7
intitial side bonus only if step before was zero, additional output, …
schluis Mar 18, 2025
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57 changes: 30 additions & 27 deletions crates/control/src/motion/step_planner.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ pub struct CycleContext {

ground_to_upcoming_support_out:
AdditionalOutput<Isometry2<Ground, UpcomingSupport>, "ground_to_upcoming_support">,
max_step_size_output: AdditionalOutput<Step, "max_step_size">,
}

#[context]
Expand All @@ -64,6 +65,7 @@ impl StepPlanner {
} else {
None
};

let (max_turn_left, max_turn_right) = if let Some(support_side) = support_side {
if support_side == Side::Left {
(-*context.max_inside_turn, context.max_step_size.turn)
Expand All @@ -87,20 +89,41 @@ impl StepPlanner {
} => (path, orientation_mode, speed),
_ => {
return Ok(MainOutputs {
planned_step: Step {
forward: 0.0,
left: 0.0,
turn: 0.0,
}
.into(),
planned_step: Step::default().into(),
})
}
};

let initial_side_bonus = if self.last_planned_step.forward.abs()
+ self.last_planned_step.left.abs()
+ self.last_planned_step.turn.abs()
<= f32::EPSILON
{
Step {
forward: 0.0,
left: *context.initial_side_bonus,
turn: 0.0,
}
} else {
Step::default()
};

let max_step_size = match speed {
WalkSpeed::Slow => *context.max_step_size + *context.step_size_delta_slow,
WalkSpeed::Normal => *context.max_step_size + initial_side_bonus,
WalkSpeed::Fast => {
*context.max_step_size + *context.step_size_delta_fast + initial_side_bonus
}
};

context
.max_step_size_output
.fill_if_subscribed(|| max_step_size);

let segment = path
.iter()
.scan(0.0f32, |distance, segment| {
let result = if *distance < context.max_step_size.forward {
let result = if *distance < max_step_size.forward {
Some(segment)
} else {
None
Expand Down Expand Up @@ -161,25 +184,6 @@ impl StepPlanner {
step = *injected_step;
}

let initial_side_bonus = if self.last_planned_step.left.abs() <= f32::EPSILON {
Step {
forward: 0.0,
left: *context.initial_side_bonus,
turn: 0.0,
}
} else {
Step::default()
};
step += initial_side_bonus;

let max_step_size = match speed {
WalkSpeed::Slow => *context.max_step_size + *context.step_size_delta_slow,
WalkSpeed::Normal => *context.max_step_size + initial_side_bonus,
WalkSpeed::Fast => {
*context.max_step_size + *context.step_size_delta_fast + initial_side_bonus
}
};

let step = clamp_step_to_walk_volume(
step,
&max_step_size,
Expand Down Expand Up @@ -210,7 +214,6 @@ fn clamp_step_to_walk_volume(
// Values in range [-1..1]
let clamped_turn = request.turn.clamp(max_turn_left, max_turn_right);

// let =
let request = Step {
forward: request.forward,
left: request.left,
Expand Down