Low-Level Communication Example

UDP Data Content Details

/* Raw data, total length 108 bytes
 * 0209 0000 6000 0000 0100 0000 2efd 3ccf
 * 47e4 e1bf f130 4992 f49e e7bf c3d7 eefe
 * 8567 f13f 9ae4 b66d 6583 f1bf 24d8 f33c
 * 3d00 f13f 8c16 222a 0b1f 0140 e8ba aaaa
 * 3803 ef3f d009 0000 60bd d2bf db04 3353
 * 1150 e73f 7d0b 0000 72f0 e53f 0a3d 0cc3
 * f071 e73f c3d7 eefe 7b52 f93f
 */

/// Content parsing
// 0209 0000   // xxxx command word is 0x0902
// 6000 0000   // yyyy payload data length is 0x60, i.e., 96 bytes
// 0100 0000   // zzzz is 1, indicating complex command with payload data

/*
 * bbbbbbbbbb...................
 * The following is the data payload, 96 bytes total, an array of 12 double values
 * 2efd 3ccf 47e4 e1bf f130 4992 f49e e7bf
 * c3d7 eefe 8567 f13f 9ae4 b66d 6583 f1bf
 * 24d8 f33c 3d00 f13f 8c16 222a 0b1f 0140
 * e8ba aaaa 3803 ef3f d009 0000 60bd d2bf
 * db04 3353 1150 e73f 7d0b 0000 72f0 e53f
 * 0a3d 0cc3 f071 e73f c3d7 eefe 7b52 f93f
 */

// Corresponds to robot joint angles
double joint_angle[12] = {
    -0.5591162726995316, -0.7381537301203293, 1.0877742727584383,
    -1.0945791516990426, 1.0625584011991203, 2.1401580135014395,
    0.9691432317102597, -0.2928085327149832, 0.7285238862024487,
    0.6856012344363617, 0.7326587495353192, 1.5826377828902742
};

Robot State Lookup Table

The states corresponding to (robot_basic_state, robot_gait_state, robot_motion_state) values:

Value	State
(1, 0, 0)	Lying down
(1, 0, 11)	Performing forward jump
(4, 0, 0)	Preparing to stand
(5, 0, 0)	Standing up
(6, 0, 0)	Force control (standing still) with flat ground low-speed gait
(6, 0, 1)	Stepping with flat ground low-speed gait or twisting body per axis command
(6, 0, 2)	Performing body twist
(6, 0, 4)	Performing twist jump
(6, 2, 0)	Force control (standing still) with general obstacle-crossing gait
(6, 2, 1)	Stepping with general obstacle-crossing gait
(6, 4, 0)	Force control (standing still) with flat ground medium-speed gait
(6, 4, 1)	Stepping with flat ground medium-speed gait
(6, 5, 0)	Force control (standing still) with flat ground high-speed gait
(6, 5, 1)	Stepping with flat ground high-speed gait
(6, 6, 0)	Force control (standing still) with grip obstacle-crossing gait
(6, 6, 1)	Stepping with grip obstacle-crossing gait
(6, 12, 1)	Performing moonwalk
(6, 13, 0)	Force control (standing still) with high-step obstacle-crossing gait
(6, 13, 1)	Stepping with high-step obstacle-crossing gait
(7, 0, 0)	Lying down in progress
(8, 0, 0)	Loss-of-control protection
(9, 0, 0)	Posture adjustment
(11, 0, 0)	Performing turn-over
(17, 0, 0)	Homing
(18, 0, 0)	Performing backflip
(20, 0, 0)	Performing wave