# 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.