Xgorobot

import sys
sys.path.insert(0, '/home/pi/.npm-global/lib/node_modules/openclaw/skills/xgorobot/lib')
from xgolib import XGO       # 通用类，自动识别机型
from edulib import XGOEDU    # 视觉/屏幕/按键

# 初始化（不带参数，自动检测）
dog = XGO()
edu = XGOEDU()

dog = XGO()  # 自动检测串口和机型
firmware = dog.read_firmware()  # 首字母: M=Mini, L=Lite, W=Mini3W, R=Rider

dog = XGO()

# 基础运动
dog.forward(step)      # 前进 0-25
dog.back(step)         # 后退 0-25
dog.left(step)         # 左移 0-18
dog.right(step)        # 右移 0-18
dog.turnleft(step)     # 左转 0-100
dog.turnright(step)    # 右转 0-100
dog.stop()             # 停止

# 姿态控制
dog.translation('z', height)  # 身高 75-120mm
dog.attitude('r', angle)      # Roll 姿态
dog.attitude('p', angle)      # Pitch 姿态
dog.attitude('y', angle)      # Yaw 姿态

# 预设动作
dog.action(id)         # 执行预设动作 1-255
dog.reset()            # 恢复初始姿态

# 机械臂 (Mini/Mini3W)
dog.arm(x, z)          # 机械臂位置
dog.claw(pos)          # 夹爪开合 0-255

# 状态读取
dog.read_battery()     # 电量
dog.read_roll()        # Roll 角度
dog.read_pitch()       # Pitch 角度
dog.read_yaw()         # Yaw 角度

edu = XGOEDU()

# 屏幕显示
edu.lcd_clear()                          # 清屏
edu.lcd_text(x, y, text, color, size)    # 显示文字
edu.lcd_picture(filename, x, y)          # 显示图片
edu.lcd_line(x1, y1, x2, y2, color)      # 画线
edu.lcd_rectangle(x1, y1, x2, y2)        # 画矩形

# 按键检测
edu.xgoButton("a")  # 左上 (True/False)
edu.xgoButton("b")  # 右上
edu.xgoButton("c")  # 左下 (常用作退出)
edu.xgoButton("d")  # 右下

# 摄像头
edu.xgoCamera(True/False)  # 开关摄像头预览
edu.xgoTakePhoto(filename) # 拍照

# 识别功能
edu.gestureRecognition()    # 手势识别 -> ('5', (x,y)) 或 None
edu.ColorRecognition(mode)  # 颜色识别 mode='R'/'G'/'B'/'Y' -> ((x,y), radius)
edu.LineRecognition(mode)   # 巡线 mode='K'(黑)/'W'(白) -> {'x':, 'angle':}
edu.QRRecognition()         # 二维码 -> ['内容1', '内容2'] 或 []
edu.AprilTagRecognition()   # AprilTag -> tag_id 或 None
edu.face_detect()           # 人脸检测 -> [x, y, w, h] 或 None
edu.emotion()               # 情绪识别 -> ('Happy', (x,y)) 或 None
edu.agesex()                # 年龄性别 -> ('Male', '(25-32)', (x,y)) 或 None
edu.yoloFast()              # 目标检测 -> ('person', (x,y)) 或 None
edu.posenetRecognition()    # 骨骼检测 -> [angle1, angle2, ...] 或 None

import sys
sys.path.insert(0, '/home/pi/.npm-global/lib/node_modules/openclaw/skills/xgorobot/lib')
from xgolib import XGO
from edulib import XGOEDU
import time

dog = XGO()
edu = XGOEDU()

# 显示提示
edu.lcd_text(10, 100, "按C键退出", "YELLOW", 20)

# 主循环
while not edu.xgoButton("c"):
    # 你的控制逻辑
    time.sleep(0.1)

dog.stop()
dog.reset()

import sys
sys.path.insert(0, '/home/pi/.npm-global/lib/node_modules/openclaw/skills/xgorobot/lib')
from xgolib import XGO
from edulib import XGOEDU
import time

dog = XGO()
edu = XGOEDU()

while not edu.xgoButton("c"):
    result = edu.ColorRecognition(mode='R')  # 追踪红色
    (x, y), radius = result
    
    if radius > 10:  # 检测到目标
        error = x - 160  # 偏离中心
        if error > 30:
            dog.turnright(30)
        elif error < -30:
            dog.turnleft(30)
        else:
            dog.forward(10)
    else:
        dog.stop()
    
    time.sleep(0.1)

dog.stop()

import sys
sys.path.insert(0, '/home/pi/.npm-global/lib/node_modules/openclaw/skills/xgorobot/lib')
from xgolib import XGO
from edulib import XGOEDU
import time

dog = XGO()
edu = XGOEDU()

while not edu.xgoButton("c"):
    result = edu.LineRecognition(mode='K')  # 黑线
    x = result['x']
    
    if x > 0:
        offset = x - 160
        if offset > 20:
            dog.turn(-20)
        elif offset < -20:
            dog.turn(20)
        else:
            dog.turn(0)
        dog.forward(10)
    else:
        dog.stop()
    
    time.sleep(0.05)

dog.stop()