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fix timestamp bug in idle and standup states #3

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Merged
HaoKa1 merged 1 commit into from
Dec 26, 2025
Merged

fix timestamp bug in idle and standup states #3

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4 changes: 2 additions & 2 deletions src/M20_sdk_deploy/state_machine/quadruped_wheel/idle_state.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ namespace qw {
bool first_enter_flag_ = true;
VecXf joint_pos_, joint_vel_, joint_tau_;
Vec3f rpy_, acc_, omg_;
float enter_state_time_ = 10000.;
float last_print_time = 0;
double enter_state_time_ = 10000.;
double last_print_time = 0;

void GetProprioceptiveData() {
joint_pos_ = ri_ptr_->GetJointPosition();
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4 changes: 2 additions & 2 deletions src/M20_sdk_deploy/state_machine/quadruped_wheel/standup_state.hpp
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Expand Up @@ -16,10 +16,10 @@ namespace qw{
class StandUpState : public StateBase{
private:
VecXf init_joint_pos_, init_joint_vel_, current_joint_pos_, current_joint_vel_;
float time_stamp_record_, run_time_;
double time_stamp_record_, run_time_;
VecXf goal_joint_pos_, kp_, kd_;
MatXf joint_cmd_;
float stand_duration_ = 2.;
double stand_duration_ = 2.;

const float init_hipx_pos_ = Deg2Rad(0.);
const float set_wheel_kd_ = 1.;
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