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walk-these-ways-go2
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Test branch (#5) 

* update for hardware test

* update activate sport_mode
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Liao Dengting 2024-03-10 22:32:40 +08:00 committed by GitHub
parent c7e01dcc84
commit 87fd7cdf94
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1 changed files with 9 additions and 5 deletions
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14
go2_gym_deploy/unitree_sdk2_bin/lcm_position_go2.cpp
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@ -363,21 +363,25 @@ void Custom::LowCmdWrite(){
sleep(0.5); sleep(0.5);
while (true) while (true)
{ { // 初始化button值，防止damping被误触发
sleep(0.5); key.components.A = 0;
key.components.B = 0;
key.components.L2 = 0;
sleep(0.2);
if ((int)key.components.B==1 && (int)key.components.L2==1) // [L2+B] is pressed again if ((int)key.components.B==1 && (int)key.components.L2==1) // [L2+B] is pressed again
{ {
exit(0); exit(0);
}else if ((int)key.components.A==1 && (int)key.components.L2==1) }else if ((int)key.components.A==1 && (int)key.components.L2==1)
{ {
std::cout << "======= activate sport_mode service ========"<<std::endl;
rsc.ServiceSwitch("sport_mode", 1); rsc.ServiceSwitch("sport_mode", 1);
sleep(1); std::cout << "======= activate sport_mode service ========"<<std::endl;
sleep(0.5);
exit(0); exit(0);
}else }else
{ std::cout << "======= Press [L2+B] again to exit ========"<<std::endl; { std::cout << "======= Press [L2+B] again to exit ========"<<std::endl;
std::cout << "======= If the robot is set to nominal pose manually, Press [L2+A] to activate sport_mode service ========"<<std::endl; std::cout << "======= If the robot is set to nominal pose manually, Press [L2+A] to activate sport_mode service ========"<<std::endl;
continue; sleep(0.5);
} }
} }