94 lines
2.8 KiB
Python
94 lines
2.8 KiB
Python
import time
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import sys
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from unitree_sdk2py.core.channel import ChannelFactoryInitialize
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from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient
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if __name__ == "__main__":
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if len(sys.argv)>1:
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ChannelFactoryInitialize(0, sys.argv[1])
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else:
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ChannelFactoryInitialize(0)
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client = ObstaclesAvoidClient()
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client.SetTimeout(3.0)
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client.Init()
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while True:
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print("##################GetServerApiVersion###################")
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code, serverAPiVersion = client.GetServerApiVersion()
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if code != 0:
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print("get server api error. code:", code)
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else:
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print("get server api version:", serverAPiVersion)
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if serverAPiVersion != client.GetApiVersion():
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print("api version not equal.")
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time.sleep(3)
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print("##################SwitchGet###################")
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code, enable = client.SwitchGet()
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if code != 0:
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print("switch get error. code:", code)
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else:
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print("switch get success. enable:", enable)
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time.sleep(3)
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print("##################SwitchSet (on)###################")
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code = client.SwitchSet(True)
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if code != 0:
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print("switch set error. code:", code)
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else:
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print("switch set success.")
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time.sleep(3)
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print("##################SwitchGet###################")
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code, enable1 = client.SwitchGet()
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if code != 0:
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print("switch get error. code:", code)
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else:
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print("switch get success. enable:", enable1)
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time.sleep(3)
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print("##################SwitchSet (off)###################")
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code = client.SwitchSet(False)
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if code != 0:
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print("switch set error. code:", code)
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else:
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print("switch set success.")
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time.sleep(3)
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print("##################SwitchGet###################")
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code, enable1 = client.SwitchGet()
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if code != 0:
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print("switch get error. code:", code)
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else:
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print("switch get success. enable:", enable1)
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time.sleep(3)
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print("##################SwitchSet (enable)###################")
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code = client.SwitchSet(enable)
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if code != 0:
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print("switch set error. code:", code)
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else:
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print("switch set success. enable:", enable)
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time.sleep(3)
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print("##################SwitchGet###################")
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code, enable = client.SwitchGet()
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if code != 0:
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print("switch get error. code:", code)
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else:
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print("switch get success. enable:", enable)
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time.sleep(3)
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