From b03ffbd25315849ed494f590e4c53d58380d41bc Mon Sep 17 00:00:00 2001
From: Lucca Pirovano <luccapirovano@gmx.com>
Date: Wed, 15 Jul 2026 14:15:42 -0400
Subject: [PATCH] adjusted walk for carpet to minimize falls

---
 naowalk.py | 28 +++++++++++++++++++++-------
 1 file changed, 21 insertions(+), 7 deletions(-)

diff --git a/naowalk.py b/naowalk.py
index e449124..1dde627 100644
--- a/naowalk.py
+++ b/naowalk.py
@@ -131,9 +131,21 @@ class NaoTeleop:
         self.motion.wakeUp()
         self.posture.goToPosture("StandInit", 0.5)
         
-        # Turn natural arm swinging back on so his walk looks normal!
+        # 1. SETTLE DELAY: Let his internal gyroscopes adapt to the squishy carpet
+        time.sleep(1.0)
+        
         self.motion.setMoveArmsEnabled(True, True)
         
+        # 2. CARPET GAIT CONFIGURATION
+        # StepHeight: Lifts the foot 2.8cm (higher than default) to clear fibers
+        # MaxStepFrequency: 0.6 slows the step rhythm down for better balance
+        # TorsoWy: 0.05 leans his torso just slightly forward for better momentum
+        carpet_config = [
+            ["StepHeight", 0.028],      
+            ["MaxStepFrequency", 0.6],  
+            ["TorsoWy", 0.05]           
+        ]
+        
         print("🎮 Controls:")
         print("   WASD / Arrows = Walk")
         print("   I J K L       = Head")
@@ -141,7 +153,6 @@ class NaoTeleop:
         print("   ESC = Quit")
 
         while self.running:
-            # Zero-impact battery checker
             self.check_battery()
 
             for event in pygame.event.get():
@@ -156,13 +167,16 @@ class NaoTeleop:
             # Walking
             keys = pygame.key.get_pressed()
             x = y = theta = 0.0
-            if keys[pygame.K_w] or keys[pygame.K_UP]:    x = 0.9
-            if keys[pygame.K_s] or keys[pygame.K_DOWN]:  x = -0.9
-            if keys[pygame.K_a] or keys[pygame.K_LEFT]:  theta = 0.7
-            if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.7
+            
+            # 3. SAFER TOP SPEED: Dropped from 0.9 (sprinting) to 0.6 (safe walking)
+            if keys[pygame.K_w] or keys[pygame.K_UP]:    x = 0.6
+            if keys[pygame.K_s] or keys[pygame.K_DOWN]:  x = -0.6
+            if keys[pygame.K_a] or keys[pygame.K_LEFT]:  theta = 0.5
+            if keys[pygame.K_d] or keys[pygame.K_RIGHT]: theta = -0.5
 
             if abs(x) > 0.1 or abs(theta) > 0.1:
-                self.motion.moveToward(x, y, theta)
+                # Pass the custom carpet gait to the walk engine
+                self.motion.moveToward(x, y, theta, carpet_config)
             else:
                 self.motion.stopMove()