Advanced Motion Control Interface
Body Height Switch
Section titled “Body Height Switch”| Command Name | Command Code | Command Value |
|---|---|---|
| Body height switch | 0x21010406 | 0=Crawl, 2=Normal |
Check current body height status:
| Command Code | Command Value |
|---|---|
| 0x11050F08 | -1=Crawl, 0=Normal |
Note: Do not switch to crawl height when the robot is in obstacle-clearing gait, stair gait, or running gait.
Height Map Module Commands
Section titled “Height Map Module Commands”The height map module functions include stair foothold planning and collision detection. Commands are sent to the perception host 192.168.1.105:43899.
Velocity Input Source
Section titled “Velocity Input Source”Developers can choose the velocity command input source for the height map: joystick commands or navigation velocity commands.
When the velocity input source is set to joystick, it is called assist mode; when set to the navigation module, it is called navigation mode.
Switch Velocity Input Source
Section titled “Switch Velocity Input Source”Send the following UDP command to the perception host 192.168.1.105:43899:
| Command Name | Command Code | Command Value | Command Type |
|---|---|---|---|
| Switch velocity input source | 0x3101EE03 | 1=Joystick, 2=Navigation module | 0 |
Check Current Velocity Input Source
Section titled “Check Current Velocity Input Source”After the perception host port 43899 receives any message from a client, it will report the current velocity input source at 10Hz:
| Command Code | Command Type | Command Value |
|---|---|---|
| 0x3100EE03 | 0 | 1=Joystick, 2=Navigation module |
Height Map Mode
Section titled “Height Map Mode”The height map mode is divided into four types: solid ground mode, hollow ground mode, stairs without risers mode, and accumulated frame mode.
Set Solid Ground Mode
Section titled “Set Solid Ground Mode”Solid ground mode is suitable for scenarios where the robot’s landing plane is solid, such as regular solid concrete floors or concrete stairs.
 |  |
|---|
| Command Name | Command Code | Command Value | Command Type |
|---|---|---|---|
| Solid ground | 0x3101EE01 | 3 | 0 |
Set Hollow Ground Mode
Section titled “Set Hollow Ground Mode”Hollow ground mode is suitable for scenarios where the robot’s landing plane is a hollow grating, such as industrial platforms or stairs made of steel grating.
 |  |
|---|
| Command Name | Command Code | Command Value | Command Type |
|---|---|---|---|
| Hollow ground | 0x3101EE01 | 4 | 0 |
Set Stairs Without Risers Mode
Section titled “Set Stairs Without Risers Mode”Stairs without risers mode is a special condition of solid ground mode, suitable for stairs where the landing surface is solid but there are no vertical risers.
| Command Name | Command Code | Command Value | Command Type |
|---|---|---|---|
| Stairs without risers | 0x3101EE01 | 5 | 0 |
Set Accumulated Frame Mode
Section titled “Set Accumulated Frame Mode”Note: Accumulated frame mode is only supported in vmap (≥1.5.3), and requires jy_exe (≥1.10.28), launcher (≥0.0.5), fast-lio (≥1.0.3), and jycog-system (≥0.5.5).
Setup steps:
- Keep the robot standing still
- Send the enable LiDAR odometry command to 192.168.1.105:60000 (command code 0xBAA0001, command value 1)
- After successful activation, send the set accumulated frame mode command to 192.168.1.105:43899 (command code 0x3101EE01, command value 20)
- Only after confirming the switch is complete can you control the robot to start stepping
Switch from Accumulated Frame to Other Modes
Section titled “Switch from Accumulated Frame to Other Modes”After ensuring you have switched to another height map mode, send the disable LiDAR odometry command to 192.168.1.105:60000 (command code 0xBAA0001, command value 0).
Get Current Height Map Mode
Section titled “Get Current Height Map Mode”| Command Code | Command Type | Command Value |
|---|---|---|
| 0x3100EE01 | 0 | 3=Solid ground, 4=Hollow ground, 5=Stairs without risers, 18=Accumulated frame ready state, 20=Accumulated frame |
Stop-Avoidance Mode
Section titled “Stop-Avoidance Mode”| Command Name | Command Code | Command Value | Command Type |
|---|---|---|---|
| Switch stop-avoidance mode | 0x3101EE02 | 1=Stop at obstacle, 2=Avoid obstacle | 0 |
Check current stop-avoidance mode:
| Command Code | Command Type | Command Value |
|---|---|---|
| 0x3100EE02 | 0 | 1=Stop at obstacle, 2=Avoid obstacle |
Obstacle Height Threshold
Section titled “Obstacle Height Threshold”| Command Code | Command Type | Command Value |
|---|---|---|
| 0x3100EE04 | 0 | 1=Set height threshold to 8cm, 2=Set height threshold to 28cm |
Recommended thresholds:
| Gait | Recommended Obstacle Height Threshold |
|---|---|
| Walking gait or slope gait | 8cm |
| Obstacle-clearing gait or stair gait | 28cm |