Reduce mid-walk jittering, and ensure first step happens - #52

Open

ijnek wants to merge 3 commits into

feat/reduce-jittering

Commits on Jan 7, 2025

ensure each step starts from the actual previous foot trajectory point, not the ideal last foot trajectory point
ijnek
committed
0f525d9
don't switch phase if progress of step is less than 50%
ijnek
committed
fa74d5c

Commits on Jan 8, 2025

force calculation of first step upon receiving a twist command, instead of waiting for a phase change that won't happen
ijnek
committed
3e679c0