Repository navigation

Refactor leg dynamics, control logic, and state management - #215

Merged

Bluefairy-ljy merged 63 commits into

rm-controls:masterfrom

WiseL00k:series_leg_new_controller

Oct 3, 2026

Merged

Refactor leg dynamics, control logic, and state management#215
Bluefairy-ljy merged 63 commits into
rm-controls:masterfrom
WiseL00k:series_leg_new_controller

Commits on Mar 16, 2026
- refactor: update leg state transition conditions in stand_up.cpp
  WiseL00k
  committed
  142bbfa
Commits on Apr 1, 2026
Commits on Apr 4, 2026
- increase weight limits for Q_theta and Q_phi in LQRWeight configuration
  WiseL00k
  committed
  33f0f9b
- Implement spring force calculation in VMCController
  WiseL00k
  committed
  b458a48
Commits on Apr 5, 2026
- Add updateLegFReal method to ModeBase for updating leg force data
  WiseL00k
  committed
  1b44599
Commits on Apr 7, 2026
- Add leg gravity compensation and debug features to VMC controller
  WiseL00k
  committed
  63e20c2
Commits on Apr 8, 2026
- Refactor leg dynamics calculations and update configuration parameters
  WiseL00k
  committed
  fa30280
Commits on Apr 10, 2026
Commits on Apr 25, 2026
Commits on Apr 26, 2026
- refactor: update leg length calculation for improved control responsiveness
  WiseL00k
  committed
  d42ebbd
- modify vmc_bias_angle.
  WiseL00k
  committed
  96ac006
Commits on May 1, 2026
Commits on May 2, 2026
- refactor: improve slippage detection and update oversampling logic
  WiseL00k
  committed
  e3a83cb
Commits on May 23, 2026
Commits on May 24, 2026
- Add clamp function and apply it to velocity and pitch error limits
  WiseL00k
  committed
  37d4025
- increase leg length and angle accuracy in stand_up controller
  WiseL00k
  committed
  d81def5
Commits on Jun 1, 2026
- Refactor controller and mode manager to include wheel velocity differential PID
  WiseL00k
  committed
  d7ab2e0
- refactor protect.cpp to limit PID output and enhance balance recovery conditions
  WiseL00k
  committed
  7b3a0b0
Commits on Jun 5, 2026
Commits on Jun 6, 2026
Commits on Jul 11, 2026
Commits on Jul 18, 2026
- Refactor controller methods and add leg theta offset parameter handling
  WiseL00k
  committed
  9a85e17
Commits on Jul 19, 2026
- fix: fix pre-commit issues.
  WiseL00k
  committed
  0e0e4a2
Commits on Aug 4, 2026
- Optimize VMC class.
  WiseL00k
  committed
  1e098f7
- pre-commit.
  WiseL00k
  committed
  6a6262a
- Add VMC class header files.
  WiseL00k
  committed
  6ad4250
- style: code format.
  WiseL00k
  committed
  a3fe74d

Commits

Commits on Mar 16, 2026

Commits on Apr 1, 2026

Commits on Apr 4, 2026

Commits on Apr 5, 2026

Commits on Apr 7, 2026

Commits on Apr 8, 2026

Commits on Apr 10, 2026

Commits on Apr 25, 2026

Commits on Apr 26, 2026

Commits on May 1, 2026

Commits on May 2, 2026

Commits on May 23, 2026

Commits on May 24, 2026

Commits on Jun 1, 2026

Commits on Jun 5, 2026

Commits on Jun 6, 2026

Commits on Jul 11, 2026

Commits on Jul 18, 2026

Commits on Jul 19, 2026

Commits on Aug 4, 2026