Auto-switch locomotion mode based on stick magnitude

Walk mode (X): SLOW_WALK gait at 0.1-0.8 m/s (lower half of stick),
WALK gait at 0.8-2.0 m/s (upper half). Run mode (Y): WALK gait at
0.8-2.5 m/s (lower half), RUN gait at 2.5-4.5 m/s (upper half).
Ensures planner always receives in-distribution speeds matching the
neural network's training clip ranges per locomotion mode.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp

@@ -650,7 +650,9 @@ class GamepadManager : public InputInterface {
         double final_speed = planner_use_movement_speed_;
         double final_height = planner_use_height_;
 
-        // Proportional speed from stick magnitude (replaces binary IDLE gate)
+        // Proportional speed with auto locomotion mode switching
+        // X (WALK macro): SLOW_WALK(0.1-0.8) → WALK(0.8-2.0) based on stick magnitude
+        // Y (RUN macro):  WALK(0.8-2.5) → RUN(2.5-4.5) based on stick magnitude
         if (planner_stick_magnitude_ < dead_zone_) {
           // Stick in dead zone — IDLE for walk/run, zero-movement for crawl/kneel
           if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::WALK) ||
@@ -660,23 +662,41 @@ class GamepadManager : public InputInterface {
             final_speed = -1.0f;
             final_height = -1.0f;
           } else {
-            // Keep current mode, but zero out movement
             final_movement = {0.0f, 0.0f, 0.0f};
             final_speed = 0.0f;
             final_height = 0.4f;
           }
-        } else if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::WALK) ||
-                   planner_use_movement_mode_ == static_cast<int>(LocomotionMode::RUN)) {
-          // Proportional speed from stick magnitude
+        } else if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::WALK)) {
+          // WALK macro: SLOW_WALK (0.1-0.8) → WALK (0.8-2.0)
           double normalized = std::min((planner_stick_magnitude_ - dead_zone_) / (1.0 - dead_zone_), 1.0);
-          if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::WALK)) {
-            final_speed = 0.3 + normalized * (1.5 - 0.3);   // 0.3 to 1.5 m/s
-          } else { // RUN
-            final_speed = 2.0 + normalized * (4.5 - 2.0);   // 2.0 to 4.5 m/s
+          if (normalized < 0.5) {
+            // Lower half: SLOW_WALK gait, speed 0.1 to 0.8
+            final_mode = static_cast<int>(LocomotionMode::SLOW_WALK);
+            double t = normalized / 0.5;
+            final_speed = 0.1 + t * (0.8 - 0.1);
+          } else {
+            // Upper half: WALK gait, speed 0.8 to 2.0
+            final_mode = static_cast<int>(LocomotionMode::WALK);
+            double t = (normalized - 0.5) / 0.5;
+            final_speed = 0.8 + t * (2.0 - 0.8);
+          }
+        } else if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::RUN)) {
+          // RUN macro: WALK (0.8-2.5) → RUN (2.5-4.5)
+          double normalized = std::min((planner_stick_magnitude_ - dead_zone_) / (1.0 - dead_zone_), 1.0);
+          if (normalized < 0.5) {
+            // Lower half: WALK gait, speed 0.8 to 2.5
+            final_mode = static_cast<int>(LocomotionMode::WALK);
+            double t = normalized / 0.5;
+            final_speed = 0.8 + t * (2.5 - 0.8);
+          } else {
+            // Upper half: RUN gait, speed 2.5 to 4.5
+            final_mode = static_cast<int>(LocomotionMode::RUN);
+            double t = (normalized - 0.5) / 0.5;
+            final_speed = 2.5 + t * (4.5 - 2.5);
           }
         } else if (planner_use_movement_mode_ == static_cast<int>(LocomotionMode::CRAWLING)) {
           double normalized = std::min((planner_stick_magnitude_ - dead_zone_) / (1.0 - dead_zone_), 1.0);
-          final_speed = 0.3 + normalized * (1.2 - 0.3);     // 0.3 to 1.2 m/s
+          final_speed = 0.3 + normalized * (1.2 - 0.3);
         }
 
         // Emergency stop resets to idle