Project 7 XGO Does Gymnastics

Ⅰ. Teaching Aims

Understand the six-degree-of-freedom spatial posture of XGO (X, Y, Z translation + Pitch, Roll, Yaw rotation).
Master the instructions of slide body and rotate body and their positive and negative directions.
Learn to control “forward and backward displacement”, “left and right displacement” and “up and down push-ups” respectively through three independent examples.
Use XGO reset pose to eliminate cumulative errors and ensure a return-to-zero position after the action.

XGO + Foxbit + MicroBlocks IDE.
XGO battery power ≥ 60 %. The robot stands in the center of a flat table, with a space of no less than 20 cm around it.
MicroBlocks status bar shows a green dot, XGO-lite extension is loaded and the development board model is Foxbit.
Manually run XGO reset pose once to confirm the zero position.


Functions	forward and backward displacement
Value range	−25 ~ +25
“+” Direction	Forward

Functions	left and right displacement
Value range	−25 ~ +25
“+” Direction	Left

Functions	up and down push-ups
Value range	−25 ~ +45
“+” Direction	Up

Functions	Head down and head up (Pitch)
Value range	−20 ~ +20
“+” Direction	Head up

Formulas:

• slide X “+ forward − backward”

• slide Y “+ left − right”

• slide Z “+ up − down”

• rotate X “+ head up − head down”

Each section includes initialization, action, waiting, and reset.

Online code: Click here

Online code: Click here

Debugging tips:

Online code: Click here

Questions	Possible causes	Solutions
The movement is not obvious.	The parameter is too small / `wait` is too short	slide ≥ 6 mm，rotate ≥ 8°；`wait` ≥ 300 ms
The front feet are raised	The Pitch is large, but Z has not sunk	Sink synchronously by 5–10 mm to balance the center of gravity
The servo is screaming.	Maintain an extreme posture for a long time	Shorten the waiting time and `reset pose` immediately after the action