48 lines
1.1 KiB
Python
48 lines
1.1 KiB
Python
#!/usr/bin/env python3
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"""高层走动示例 — 站起来 → 走一圈 → 趴下.
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跟 lowlevel 控制不同, 高层走的是 sportMode 系统, 不需要 stop_sportmode.
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"""
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import sys
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import time
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from go1_pro_sdk import Go1, Velocity, Pose
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def main():
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print('🐕 高层控制示例: stand_up → walk → 转向 → 趴下')
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print(' 通过 MQTT 控制 Pi 上的 sportMode')
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with Go1() as dog:
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print('\n[1/5] stand_up (起立)...')
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dog.stand_up()
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time.sleep(3)
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print('[2/5] 进入 walk 模式...')
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dog.set_walk_mode()
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time.sleep(1)
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print('[3/5] 前进 2 秒 (vx=0.2)...')
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for _ in range(20):
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dog.walk(Velocity(vx=0.2))
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time.sleep(0.1)
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print('[4/5] 原地转向 2 秒 (vz=0.3)...')
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for _ in range(20):
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dog.walk(Velocity(vz=0.3))
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time.sleep(0.1)
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print(' 停止 1 秒...')
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dog.stop()
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time.sleep(1)
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print('[5/5] stand_down (趴下)...')
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dog.stand_down()
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time.sleep(3)
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print('✅ 结束')
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if __name__ == '__main__':
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sys.exit(main() or 0)
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