rotate arms

1 files changed, 9 insertions, 3 deletions

diff --git a/src/SmarterWalkAnimation.java b/src/SmarterWalkAnimation.java
index 9b4d7f0..bf4e72e 100644
--- a/src/SmarterWalkAnimation.java
+++ b/src/SmarterWalkAnimation.java
@@ -25,7 +25,8 @@ public class SmarterWalkAnimation implements WalkAnimation {
     private final double legLength;
 
     private final double cycleLength;
-    private final double MAX_LEG_ANGLE_DEG = 40.0;
+    private static final double MAX_LEG_ANGLE_DEG = 40.0;
+    private static final double MAX_ARM_ANGLE_DEG = 30.0;
     /**
      * Maximum percentage of the legs length to lift the feet.
      */
@@ -38,6 +39,8 @@ public class SmarterWalkAnimation implements WalkAnimation {
     private double knee_angle_left;
     private double knee_angle_right;
     private double bodyOffset;
+    private double arm_angle_left;
+    private double arm_angle_right;
 
     SmarterWalkAnimation(float legTopLength, float legBottomLength) {
         this.legTopLength = legTopLength;
@@ -98,6 +101,9 @@ public class SmarterWalkAnimation implements WalkAnimation {
         leg_angle_left += cosineRule(legTopLength, dist_leg_l, legBottomLength);
         leg_angle_right += cosineRule(legTopLength, dist_leg_r, legBottomLength);
 
+        arm_angle_left = MAX_ARM_ANGLE_DEG * cos(pos / 2 * PI);
+        arm_angle_right = MAX_ARM_ANGLE_DEG * sin(pos / 2 * PI);
+
         bodyOffset = legLength * body.y;
     }
 
@@ -123,12 +129,12 @@ public class SmarterWalkAnimation implements WalkAnimation {
 
     @Override
     public double getArmAngleLeft() {
-        return 0;
+        return arm_angle_left;
     }
 
     @Override
     public double getArmAngleRight() {
-        return 0;
+        return arm_angle_right;
     }
 
     @Override