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MAVProxyUser / YushuTechUnitreeGo1

宇树科技 Yushu Technology (Unitree) go1 development notes
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lie down powerless MQTT command #12

Closed gitbnz closed 9 months ago

gitbnz commented 9 months ago

I work with a GO1 AIR with an extrenal power supply. I use a RPI to send it MQTT commands to fullfill a walking routine. So far it works well, except that the motors are overheating with the time. I use the standDown command to have it have 15min rest every 15min routine, but in that mode the motors still draw power. I was looking for the L2+B command to lie down powerless, so I used the sniffing described, but without any result. I thought maybe one of you could help me out. Thanks a lot.

aatb-ch commented 9 months ago

You have to follow mode=5 (stand down) with a mode=7 (damped) to have the motors go soft with low torque. Simple stand down is actually worse than just letting the dog idle because it locks the legs going stiff and applying high torque (with audible noise)

gitbnz commented 9 months ago

Thanks. Used the following:

infot = mqttc.publish("controller/action", "damping", qos=2) infot.wait_for_publish() time.sleep(2)