交通控制

五个单位中的第二个 · 交通控制 · ~ 3小时

→ 预备 → 步行模式序列.速度指令,侧移动,旋转,以及正确的安全关闭序列.这是你的第一个真正的步行会议.

整个单元需要电子站点的探测器. 永远不要单独过渡到WALK模式.所有步行指令中,至少在机器人距离2米.

了解模式序列

通过一个特定的序列,K1必须通过模式过渡.跳过步骤会导致下降.

→ 预备 → 步行

关闭时,总是逆转回来:

步行 → 预备 → 布

步骤1:控制的预备过渡

from booster_robotics_sdk import BoosterRobot, RobotMode
import time

robot = BoosterRobot(ip="192.168.10.102")
robot.connect()

# Start from DAMP (should already be in DAMP after Unit 1)
state = robot.get_state()
assert state.mode == RobotMode.DAMP, "Must start from DAMP"

print("Entering PREP — robot will stand up slowly")
robot.set_mode(RobotMode.PREP)

# Wait for PREP to stabilize — this is mandatory
print("Waiting 5 seconds for PREP stabilization...")
time.sleep(5)

state = robot.get_state()
print(f"Mode confirmed: {state.mode}")
print(f"IMU pitch (should be near 0): {state.imu_euler[1]:.2f} deg")

步骤2: 输入WALK,然后先发送速度命令

from booster_robotics_sdk import LocomotionCommand

print("Entering WALK mode — spotter ready?")
robot.set_mode(RobotMode.WALK)
time.sleep(2)  # Stabilize in WALK

# Walk forward at 0.2 m/s for 3 seconds
print("Walking forward...")
cmd = LocomotionCommand(vx=0.2, vy=0.0, vyaw=0.0)
robot.send_locomotion_command(cmd)
time.sleep(3)

# Stop
robot.send_locomotion_command(LocomotionCommand(vx=0, vy=0, vyaw=0))
time.sleep(1)

第三步:侧面运动和

# Step sideways (right)
cmd = LocomotionCommand(vx=0.0, vy=-0.2, vyaw=0.0)
robot.send_locomotion_command(cmd)
time.sleep(2)
robot.send_locomotion_command(LocomotionCommand(vx=0, vy=0, vyaw=0))
time.sleep(1)

# Rotate in place (yaw)
cmd = LocomotionCommand(vx=0.0, vy=0.0, vyaw=0.3)
robot.send_locomotion_command(cmd)
time.sleep(3)
robot.send_locomotion_command(LocomotionCommand(vx=0, vy=0, vyaw=0))
time.sleep(1)

步骤4:安全关闭序列

# Always return to PREP before DAMP
print("Shutting down — entering PREP...")
robot.set_mode(RobotMode.PREP)
time.sleep(3)

print("Entering DAMP...")
robot.set_mode(RobotMode.DAMP)
time.sleep(1)

robot.disconnect()
print("Done — robot is in DAMP (safe to handle)")

速度限制参考

Parameter	Min	Max	Unit
vx (forward/back)	-0.5	0.5	m/s
vy (lateral)	-0.3	0.3	m/s
vyaw (rotation)	-1.0	1.0	rad/s

开始使用保守值 (50%最大) 在你的第一次会议.K1的平衡控制器处理稳定性,但在极限附近的突然命令变化可能导致机器人跌倒.

单元2完成,当...

您已经成功地前进,后退和侧面走过K1. Yaw转换工作.您至少完成了安全关闭序列 (WALK → PREP → DAMP).没有发生意外跌倒.在继续到单元之前记录您的会议记录.

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