Remote Control Button Instructions

Operation Instructions

Concept	Description
Zero position mode	All joints move from the current position to the joint position when the robot is in a half-squat position.
Standing mode	In this mode, when the robot meets the standing conditions, it enters the standing state. The joystick commands can be used to control the attitude and height of the robot's body in the roll, pitch, and yaw directions. Pressing `RB` can perform a preset action. When the robot is disturbed and difficult to maintain balance, the robot will start to take steps.
Walking mode	The robot enters the walking state. The joystick can be used to control the walking and rotation speed of the robot.
Running mode	The robot enters the running state. The joystick can be used to control the running and rotation speed of the robot.
Stop mode	Can be triggered in any mode. When triggered, all joints will stop at the current position.

Mode Switching

模式切换

Mode	Button	Description
Start	`A`	After Adam is secured, press `A` to enter the Zero mode.
Zero mode	`X`	In the Zero mode, press `X` to enter the Stand mode. Press `A` to return to the Zero mode from the Stand mode.
Stand mode	Left joystick horizontal direction	In the Stand mode, use the horizontal direction of the left joystick to control the attitude of the robot's body in the roll direction.
	Left joystick vertical direction	In the Stand mode, use the vertical direction of the left joystick to control the attitude of the robot's body in the pitch direction.
	Right joystick horizontal direction	In the Stand mode, use the horizontal direction of the right joystick to control the attitude of the robot's body in the yaw direction.
	Right joystick vertical direction	In the Stand mode, use the vertical direction of the right joystick to control the height of the robot's body.
	`RB`	In the Stand mode, press `RB` to perform the next action in the action list.
	`Y`	In the Stand mode, press `Y` to enter the Walk mode.
Walk mode	Left joystick vertical direction	In the Walk mode, use the vertical direction of the left joystick to control the forward and backward speed commands of the robot in the Walk mode.
	Right joystick horizontal direction	In the Walk mode, use the horizontal direction of the right joystick to control the yaw angular velocity command of the robot in the Walk mode.
	Horizontal keys	In the Walk mode, use the horizontal keys to control the lateral position compensation of the robot in the Walk mode.
	`RB`	In the Walk mode, press `RB` to switch the robot from the Walk mode to the Run mode.
	`X`	In the Walk mode, press `X` to switch the robot from the Walk mode to enter the Stand mode.
Run mode	Left joystick vertical direction	In the Run mode, use the vertical direction of the left joystick to control the forward and backward speed commands of the robot in the Run mode.
	Right joystick horizontal direction	In the Run mode, use the horizontal direction of the right joystick to control the yaw angular velocity command of the robot in the Run mode.
	Horizontal keys	In the Run mode, use the horizontal keys to control the lateral position compensation of the robot in the Run mode.
	`RB`	In the Run mode, press the `RB` key to switch the robot from the Run mode to the Walk mode.
General	`LT`+`B`	In any mode, press `LT`+`B` to make the robot enter the stop mode.
	`LT+RT`	In any mode, press `LT+RT` to exit the control program.
	`Y`+`B`	In any mode, press `Y`+B to power on the actuator.
	`LB`+`RB`	In any mode, press `LB`+`RB` to power off the actuator.

Button Instructions