stanfordroboticsclub/StanfordQuadruped

Make the swing and stance controller interfaces identical

Nate711 opened this issue · 1 comments

Nate711 commented

Put the swing proportion calculation inside the swing controller.

StanfordQuadruped/src/Controller.py

Line 54 in 61144b1

self.gait_controller.subphase_ticks(state.ticks) / self.config.swing_ticks

SteveMacenski commented

Or better yet, create a pure virtual controller interface these adhere to.