Complete Restructered Robot Code

Robot into its own Class instead of lose Global Variables that cause circular imports

StateClass usage instead of the old RobotState.py

New Input Class for Controller and randome intputs

states/WaveState.py

@@ -0,0 +1,140 @@
+"""
+RobotState/emotes.py - Expressive Emote States (Wave, Laola Wave)
+"""
+from __future__ import annotations
+from typing import TYPE_CHECKING, Optional
+import numpy as np
+import math
+
+import config as cfg
+import DataTypes as dt
+from states.State import State
+if TYPE_CHECKING:
+    from Robot import Robot
+
+
+class WaveEmoteState(State):
+    """Front leg wave greeting emote state."""
+
+    def __init__(
+        self,
+        cycles: int = 3,
+        duration: float = 1.5,
+        tickpersec: float = 20.0,
+        height: float = 40.0,
+        amplitude: float = 25.0,
+    ):
+        self.cycles = cycles
+        self.duration = duration
+        self.tickpersec = tickpersec
+        self.ticks = int(duration * tickpersec)
+        self.height = height
+        self.amplitude = amplitude
+
+        self.current_cycle = 0
+        self.current_tick = 0
+        self.base_pos: Optional[dt.PosArray] = None
+
+    def enter(self, robot: Robot) -> None:
+        self.current_cycle = 0
+        self.current_tick = 0
+        self.base_pos = dt.PosArray(np.copy(robot.current_pos.data))
+
+    def execute(self, robot: Robot) -> Optional[str]:
+        t = self.current_tick / float(self.ticks)
+        tick_pos = np.copy(self.base_pos.data)
+        leg_id = 0  # Front leg
+
+        cx, cy, cz = self.base_pos[leg_id]
+
+        # Wave trajectory calculation
+        y_wave = math.sin(4.0 * math.pi * t)
+        y_offset = self.amplitude * (0.5 * (y_wave + 1.0))
+        z_offset = self.height * math.sin(math.pi * t)
+
+        max_y_dev = 30.0
+        new_y = cx
+        new_y = max(cy - max_y_dev, min(cy + max_y_dev, cy + y_offset))
+
+        tick_pos[leg_id] = [cx + 10.0, new_y, cz + z_offset]
+
+        pos_array = dt.PosArray(tick_pos)
+        target_rad = robot.compute_ik(pos_array)
+
+        robot.current_pos = pos_array
+        robot.set_joint_angles(target_rad)
+
+        self.current_tick += 1
+
+        if self.current_tick >= self.ticks:
+            self.current_tick = 0
+            self.current_cycle += 1
+
+        if self.current_cycle >= self.cycles:
+            return "idle"
+
+        return None
+
+    def exit(self, robot: Robot) -> None:
+        robot.robot_state = "idle"
+
+
+class LaolaWaveEmoteState(State):
+    """Laola Wave side-to-side leg wave emote state."""
+
+    def __init__(
+        self,
+        cycles: int = 3,
+        duration: float = 1.5,
+        tickpersec: float = cfg.standard_tickpersec,
+        height: float = 10.0,
+        amplitude: float = 30.0,
+    ):
+        self.cycles = cycles
+        self.duration = duration
+        self.ticks = int(duration * tickpersec)
+        self.height = height
+        self.amplitude = amplitude
+
+        self.current_cycle = 0
+        self.current_tick = 0
+        self.base_pos: Optional[dt.PosArray] = None
+
+    def enter(self, robot: Robot) -> None:
+        self.current_cycle = 0
+        self.current_tick = 0
+        self.base_pos = dt.PosArray(np.copy(robot.current_pos.data))
+
+    def execute(self, robot: Robot) -> Optional[str]:
+        t = self.current_tick / float(self.ticks)
+        tick_pos = np.copy(self.base_pos.data)
+        wave_legs = [1, 4]
+
+        for leg_id in wave_legs:
+            cx, cy, cz = self.base_pos[leg_id]
+            phase = 0.0 if leg_id == 1 else math.pi
+
+            y_offset = self.amplitude * math.sin(2.0 * math.pi * t + phase)
+            z_offset = self.height * math.sin(2.0 * math.pi * t + phase)
+
+            tick_pos[leg_id] = [cx, cy + y_offset, cz + z_offset]
+
+        pos_array = dt.PosArray(tick_pos)
+        target_rad = robot.compute_ik(pos_array)
+
+        robot.current_pos = pos_array
+        robot.set_joint_angles(target_rad)
+
+        self.current_tick += 1
+
+        if self.current_tick >= self.ticks:
+            self.current_tick = 0
+            self.current_cycle += 1
+
+        if self.current_cycle >= self.cycles:
+            return "idle"
+
+        return None
+
+    def exit(self, robot: Robot) -> None:
+        robot.robot_state = "idle"