Project 5 Domineering XGO

Ⅰ. Teaching Aims

  1. Master the positive and negative directions of the XGO walk sideways step size: positive for shift right, negative for shift left.

  2. Understand the influence of lateral step size on displacement distance and thigh swing.

  3. Write the basic side-shift script of “left shift - stop - right shift - stop”, and achieve the target shift by adjusting the waiting time.

  4. Use XGO reset pose and small step to correct yaw to ensure a straight lateral step.

Ⅱ. Pre-class Check

  • XGO + Foxbit + MicroBlocks IDE.

  • XGO battery power ≥ 60 %. The desktop width ≥ 80 cm, with no obstructions on either side. Place soft pads at the end of the path to prevent collisions.

  • MicroBlocks status bar shows a green dot, XGO-lite extension is loaded and the development board model is Foxbit.

  • Test XGO init and XGO reset pose.

  • Click XGO reset pose once to maintain the standing position horizontally.

Ⅲ. Key Blocks Analysis

Img

Value range

Positive → right shift, negative → left shift

Function

Set the lateral step size and keep it in effect

Common misuses

Excessive step size → slipping or rollover

Img

Value range

≥ 300 ms

Function

Maintain the current gait

Common misuses

Too small → Only shake without displacement

Img

Function

Clear the accumulated errors
and restore the correct posture

Common misuses

Forget to use → Yaw in long-distance lateral step

Ⅳ. Test: Basic Shift Script

  1. Initialization: when started → XGO init → XGO reset pose

  2. Piece the entire script according to the picture:

    Img

  3. Click ▶Run, and the dog will move left for 1.5s → stop for 0.5s → move right for 1.5s → stop for 0.5s, and then it ends with reset pose.

Online code: Click here

Ⅴ. Quiz

  1. Why are lateral steps more sensitive to changes in waiting time?

  2. If its nose gradually leans forward during the left-shift, how should the script be corrected?

  3. How can lateral steps and forward steps be combined into an “L-shaped” path?

Ⅵ. FAQ

Questions

Possible causes

Solutions

Shake but stay in the place

The step size is too small or the waiting time is too short

step size ≥ 20, waiting time ≥ 600 ms

Obviously slippery

The step size is 100 and the ground is slippery

step size ≤ 70; Lay rough pads

The body rotates in lateral steps

Uneven friction / missed reset

Insert reset pose every 2 seconds or reduce step size

Continue gliding after stopping

Insufficient waiting time

Gradually reduce the step size to 0 before stopping

Overheating servo

Long time of large step size

Take a one-minute break every 30 seconds; Set a medium step size