EGO1介绍

Go1Manual V1.0Unitree/cndirectoryDisclaimer: (2)GO1 Introduction (3)Battery Charging (9)GO1 Basic Operation with Handheld Devices (11)GO1 Basic Operation with Label controller (13)Setting and using Unitree App on Tablet/Phone (15)Disclaimer:The document is produced by Unitree Robotics (https:///) in China, based on the information collected from the robot manufacturer, as well as in-house experiment and research. Unitree Robotics tried its best to ensure the accuracy of the information at the time of producing the document. Unitree Robotics does not accept any responsibility whatsoever for misrepresentation by any person whatsoever of the information contained in this manual and expressly disclaims all and any liability and responsibility to any person, whether a reader of this training manual or not, in respect of claims, losses or damage or any other matter, either direct or consequential arising out of or in relation to the use and reliance, whether wholly or partially, upon any information contained or products referred to in this manual.GO1 IntroductionHardware ComponentsThe GO1 quadruped robot comes with the following hardware components:Quick Assemblyhe GO1 comes in a luggage. The default passcode is 000.The GO1 should be found in the following position.There are four LED lights on the battery to indicate the power, four bars indicate full power, short press the button to check the powerPlace the GO1 on a flat ground. Then, insert the battery into the side of the GO1's body. Push the battery in until you hear the click sound from the battery's locking mechanism.The GO1 should then be placed in the following configuration, with all 4 limbs flat on the ground:Proper starting configuration of GO1To switch the GO1 on, locate the power button on the GO1's battery pack and perform 1 short press followed by 1 long press. Awhirring sound will be heard and the robot will stand up by itself. In this case, the robot dog can be controlled by the remote controlcontrol the robot dog by label controllerTo switch the GO1 controller on, locate the power button and perform 1 short press followed by 1 long press. A beep will be heard when the controller is switched on. The same button press sequence applieswhen switching the controller off.on the GO1's battery pack and perform 1 short press followed by 1 long press.Battery ChargingThe GO1 battery has 4 LEDs acting as the battery level indicator:⚫1/4 LED of battery level indicator lit -> 0-25% battery level 2/4 LED of⚫battery level indicator lit -> 25-50% battery level 3/4 LED of battery level⚫indicator lit -> 50-75% battery level⚫4/4 LED of battery level indicator lit -> 75-100% battery level 0/4 LED of⚫battery level indicator lit -> Charging completePlease charge the battery as soon as it falls to the 25% level (1/4 LED of battery level indicator lit)To charge battery, please remove battery from GO1 and mount it onto the battery charger. Charging duration is approximately 1.5 hours.To charge remote control, connect it to the Battery Charger via USB-C type cable. Charging duration is approximately 1.5 hoursapproximately 1.5 hoursGO1 Basic Operation with Handheld DevicesHere is an introduction to the use of the go1 remote1) power on the robot, then waiting 1min it will stand up by itself a nd the light band on the robot's head will flash.This means that you can control the robot dog through the remote control or label2)Start ->unlocked and inattitude control3) Start again -> enter walk control In this case, the robot can be controlled only by pushing the rocker. If the handheld is not pushed, it will stand in place4) Start twice ->enter fast run control In this case, the robot will step all the time without pushing the handheld5)L2+A->the robot is locked, and the robot dog can switch between standing and lying down postures through multiple operations.If you want to take away the robot, you need to press L2+A in advance to lock the robot and take it away. When standing, you can press start to unlock6)L2+B-> damping state/low power state,In this state, the robot dog will get down, you need to use L2+A to make him stand upSchematic diagram of pose control：Schematic diagram of walking controlRemarks:When using the robot to move, first push the joystick slightly, and increase the speed after you are familiar with the robot operation.The current version of the robot dog only supports the above functions for the time being, and Unitee Technology will update related functions in the future, and update it for you as soon as possibleGO1 Basic Operation with Label controllerHere is an introduction to the use of the label controller1) power on the robot, then waiting 1min it will stand up by itself a nd the light band on the robot's head will flash. This means that you can control the robot dog through the remote control or label2)POW -> Short press once, then long press for 2 seconds to turn on and off the remote control Remarks:The label should be turned on in a fixed position before powering on.As shown belowBuckle the remote control to the waist belt on the right side of the human body. The human body is standing on the left side of the robot, with the torso facing the same as the robot. Short press and long press the POW button that automatically follows the remote control, when the indicator lights up steadily,the opening is completed.The vertical distance between the label and the ground is 60~110cm, and the horizontal distance between the label and the robot dog is 50~70cm.3) mod -> Short press the MOD key to switch the following three modes: Mode1-Mode2-Mode3-Mode1⚫Mode1: Joystick mode, you can control the robot movement through the joystick⚫Mode2: Slow auto follow mode, maximum speed 1.5m/s⚫Mode3: Fast auto-following mode, maximum speed 3.0m/s4) POW+‘+’-> the robot is locked, and the robot dog can switch between standing and lying down postures through multiple operations.If you want to take away the robot, you need to press L2+A in advance to lock the robot and take it away. When standing, you can press MOD to unlockSchematic diagram of Mode1Setting and using Unitree App on Tablet/Phone1、Download and install the app from https:///app/2、Connect to the GO1 via WiFi - UnitreeRoboticsGO1-XXX, with the following network configuration:Password:000000003、Open the app. Click on the in-app settings (top right of screen)4、Change the IP address to (192.168.12.1)5、Quit to home and your mobile device is now properly configured to use the following functions6、Tap vision on the screen to use the vision functionYou will see the following interface ：If you slide your two fingers in the direction in the picture, you can enlarge the image, as shown below:Back to home Change to AI Virtual joystick System management interface BLE Gamepad Change lensNote: Each camera screen is a real-time screen with adjustable viewing angle by default. AI portrait recognition only supports 1 screen at the same time. Therefore, after clicking AI switch, the corresponding camera screen will switch to AI screen, and if there are other camera AI screens before , The screen will switch back to the real-time screen with adjustable viewing angle7、 Virtual joystickThe robot dog can be remotely controlled through this interface (not yet open)8、 BLE Gamepadlockstatic posture Turn over Expand menu Damping walkrunThis interface can be connected to the remote control to determine whether the remote control is damaged9、System management interfaceThe SLAM function is still under development, please look forward to it。

实验平台简介EGO1开发平台简介本课程所使用的另外一个硬件设备为依元素科技公司生产的EGO1开发板，FPGA芯片为Xilinx Artix-7系列，型号为XC7A35T。

EGO1开发平台简介输入外设：5个通用按键，编号S0~S45个通用按键默认为低电平，按下时为高电平EGO1开发平台简介输入外设：5个通用按键，编号S0~S4对应的FPGA管脚：EGO1开发平台简介输入外设：2个专用按键，用于逻辑复位RST（S6）和擦除FPGA 配置管脚PROG（S5）。

当设计中不需要外部触发复位时，RST 按键可以用作其他逻辑触发功能。

RST对应的FPGA引脚为P15。

默认为高电平，按下时为低电平EGO1开发平台简介输入外设：16个开关，开关包括8 个拨码开关和一个8 位DIP 开关往上拨动接高电平1，往下拨动接低电平0。

EGO1开发平台简介输入外设：16个开关，开关包括8 个拨码开关和一个8 位DIP 开关对应的FPGA管脚：16个绿色LEDEGO1开发平台简介输出外设：16个绿色LED 灯，编号D0~D15，经限流电阻直接和FPGA 管脚相连。

对应的FPGA引脚七段数码管EGO1开发平台简介输出外设：8个七段共阴极数码管，即公共极输入低电平。

共阴极由三极管驱动，FPGA 需要提供高电平，三极管饱和导通，公共电极输出低电平，同时段选端连接高电平，数码管上的对应位置才可以被点亮。

EGO1开发平台简介输出外设：数码管对应的FPGA管脚EGO1开发平台简介系统时钟：EGO1搭载一个100MHz的时钟芯片，时钟信号直接与FPGA全局时钟输入管脚（P17）相连。

若设计中还需要其他频率的时钟，可以采用FPGA内部的MMCM生成。

EGO1开发平台简介FPGA 配置：板上提供以下方式配置FPGA ：B 转JTAG 接口J222.6-pin JTAG 连接器接口J3J22与J3SPI Flash 配置在使用SPI Flash 配置FPGA 时，需要提前将配置文件写入到Flash中。

《FPGA设计与应用》数码管显示实验一、实验目的和要求
1．学习动态数码管的工作原理；
2．实现对EGO1开发板四位动态数码管的控制；
二、实验内容
实现对EGO1开发板四位动态数码管的控制，使其能够正常工作；
三、实验要求
在EGO1开发板上显示想要的数字。

四、操作方法与实验步骤
1、八段数码管的动态显示原理：
2、数码管显示的设计共分3个模块：
（1）数码管封装模块
（2）数码管设计模块
（3）顶层模块
数码管动态显示的MODULE实现：
模块顶层设计——显示4个（位）十进制数
逻辑实现：
确定当前显示的位
确定当前“位”需要显示的“数”：
将“数”翻译成相应的“段码”
仿真测试台代码编写与仿真测试定义时间标尺：
定义测试Moudle
实例化被测Moudle
定义激励信号与响应信号
构造激励信号：
五、实验数据记录和处理实验代码如下：
设计文件：（部分）
仿真文件：
约束文件：
六、实验结果与分析网表结构：
仿真图像：
实物图：
七、讨论和心得
通过这次实验，我学会了数码管的动态显示，每一个数码管共用一套电路，显示时只需控制哪一个数码管进行显示。

虽然一次只能控制单独一个数码管进行显示，但可以快速切换数码管显示，利用人眼的”视觉暂留"来“同步”进行显示。

最后我明白了我们不要遇到一点困难就退缩，就去向老师同学寻求帮助，自己是自己最好的老师，只有我们靠自己的不断修改出正确结果，才会对这个知识掌握的更加透彻。

AN0002.1：EFM32 和 EFR32 无线 Gecko 系列 1硬件设计注意事项本应用注释详细介绍了 EFM32 和 EFR32 无线 Gecko 系列 1 设备的硬件设计注意事项。

如需了解 EFM32 和 EZR32 无线 MCU 系列 0 设备的硬件设计注意事项，请参考应用说明AN0002.0：EFM32 和 EZR32 无线 MCU 系列 0 硬件设计注意事项。

具体主题涉及支持的电源配置、电源滤波注意事项、调试接口连接以及外部时钟源。

更多关于 EFM32 和 EFR32 无线 Gecko 系列 1 设备中直流转换器的硬件设计和布局注意事项，请参考应用说明AN0948：EFM32 和 EFR32 系列 1 电源配置和 DC-DC。

更多关于EFR32 无线Gecko 系列1 设备无线电部分的硬件布局注意事项，请参考应用说明AN930.1：EFR32 系列 1 2.4 GHz 匹配指南，AN933.1：EFR32 系列 1 最小 BOM和AN928.1：EFR32 系列 1 布局设计指南。

内容要点•去耦电容器对确保设备电源的完整性有着至关重要的作用。

•调试接口有两个通信引脚（SWCLK 和SWDIO）。

•为确保正常运行，外部时钟源必须与设备正确连接。

1. 设备兼容性本应用说明支持多个设备系列，某些功能因设备不同而有所差异。

EFM32 系列 1 包括：•EFM32 Jade Gecko (EFM32JG1/EFM32JG12)•EFM32 Pearl Gecko (EFM32PG1/EFM32PG12)•EFM32 Giant Gecko (EFM32GG11/EFM32GG12)•EFM32 Tiny Gecko (EFM32TG11)EFR32 无线 Gecko 系列 1 包括：•EFR32 Blue Gecko (EFR32BG1/EFR32BG12/EFR32BG13/EFR32BG14)•EFR32 Flex Gecko (EFR32FG1/EFR32FG12/EFR32FG13/EFR32FG14)•EFR32 Mighty Gecko (EFR32MG1/EFR32MG12/EFR32MG13/EFR32MG14)2. 电源概述2.1 介绍尽管 EFM32 和 EFR32 无线 Gecko 系列 1 设备的平均电流消耗量非常低，对其进行适当的去耦依然很重要。