Successful pronking!

While not perfect, now that I have flux braking in place, I have now succesfully pronked around for a while without faulting!  There are a number of outstanding problems that still need to be addressed:

  • Sometimes the landing phase is erroneously cut short
  • There is occasionally a grinding like noise that sounds like some controller is unstable
  • I think the lateral movement is not working correctly
  • The gait needs to be smarter about moving the legs past the center point when in mid-flight, and changing the gait period to achieve different speeds
  • And probably a bunch of other problems I haven’t even identified yet

That said, it is still fun to watch it romp around!

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