Move your Unitree Go1 dog legs- without the dog
- I use a U2D2, the adapter for controlling dynamixels. Go1's motors operate at 5 000 000 bps, so we need a good RS485 adapter to talk to it.
- unplug the legs, they are now free.
- Manually fully extend leg (so the encoder 0 point makes sense for my example scripts)
- hook up the RS485 adapter and power (23-25v, low voltage may cause a brownout)
- run sudo ./example_cartesian_arm.py, the leg should move in a straight-ish line.
import build_a_packet as bp
ser = bp.configure_serial("/dev/ttyUSB0") # connect to your U2D2
# you may send angles with q, velocities with dq, or feedforward torque with tau
# set Kp to 0 for velocity mode
# set Kp, Kd to 0 and send torques with tau
bp.send_packet(ser, bp.build_a_packet(id=1, q=q, dq=dq, Kp=4, Kd=0.3, tau=0.0))
bp.read_and_update_motor_data(ser) # read back some feedback data
time.sleep(0.01) # don't send too fast or you'll saturate the bus
print(bp.motor_data) # print angles and angular velocities