{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Lowlevel Control"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import time\n",
    "robot = GO2Real(mode='lowlevel')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "robot.getJointStates()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import time\n",
    "for i in range(1000000):\n",
    "    q = np.zeros(12) \n",
    "    dq = np.zeros(12)\n",
    "    kp = np.ones(12)*0.0\n",
    "    kd = np.ones(12)*0.0\n",
    "    tau = np.zeros(12)\n",
    "    tau[0] = 0.0\n",
    "    robot.setCommands(q, dq, kp, kd, tau)\n",
    "    time.sleep(0.01)    "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Highlevel Control"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "pygame 2.5.2 (SDL 2.28.2, Python 3.8.18)\n",
      "Hello from the pygame community. https://www.pygame.org/contribute.html\n"
     ]
    }
   ],
   "source": [
    "from Go2Py.robot.interface.dds import GO2Real\n",
    "import time\n",
    "robot = GO2Real(mode='highlevel')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import time\n",
    "for i in range(200):\n",
    "    robot.setCommandsHigh(0,0,0.2)\n",
    "    time.sleep(0.01)    "
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.18"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}