#3 Walk sidestep issue

[FarrellRobotics]

There is an asymmetric issue with sidesteps. I believe it comes from walking.cpp

// Right/Left

m_Y_Move_Amplitude = Y_MOVE_AMPLITUDE / 2;

if(m_Y_Move_Amplitude > 0)

m_Y_Move_Amplitude_Shift = m_Y_Move_Amplitude;

else

m_Y_Move_Amplitude_Shift = -Y_MOVE_AMPLITUDE;

******* where:

m_Y_Move_Amplitude_Shift = -Y_MOVE_AMPLITUDE;

should be

m_Y_Move_Amplitude_Shift = -m_Y_Move_Amplitude;

***** Works better this way, at least symmetric, feet still tilt more LR then they should.

[Hee-il Kim]

You are right. It's bug.
Thank you.. :)