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fast_lowcmd_cpp/README.md

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+# fast_lowcmd_cpp
+
+Native CPython extension for the Go1 PRO LowCmd hot path.
+
+It keeps the implementation separate from the main `go1_pro_sdk` package until
+the robot-side timing and byte-equivalence checks are stable.
+
+## Build
+
+```bash
+cd /root/go1_pro_sdk/fast_lowcmd_cpp
+PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace
+```
+
+On the Mac conda environment:
+
+```bash
+cd /Users/chenyouyuan/cyy_ws/go1_pro_sdk/fast_lowcmd_cpp
+PYTHONPATH=/Users/chenyouyuan/cyy_ws/go1_pro_sdk conda run -n free_dog_sdk python setup.py build_ext --inplace
+```
+
+## Test
+
+```bash
+PYTHONPATH=.:.. python3 -m pytest test_fast_lowcmd.py
+```
+
+## Benchmark
+
+```bash
+PYTHONPATH=.:.. python3 benchmark_fast_lowcmd.py
+```
+
+## API
+
+```python
+from fast_lowcmd import FastLowCmdBuilder
+
+builder = FastLowCmdBuilder()
+packet = builder.build_encrypted_servo12(q, kp=28.0, kd=0.7)
+damping_packet = builder.build_encrypted_damping()
+```
+
+The generated bytes are expected to match the Python SDK exactly for the tested
+packet forms.