.. _Go2 App Control Demos: https://www.youtube.com/playlist?list=PLJaMZYYjldgOS7IEZODioMkb_fMWphRoJ


.. _go2_remote_control:

==============
Manual Control
==============

There are two ways to control the :ref:`Unitree_go2` robot manually:

    #. App Control
    #. Remote Control

App Control
-----------

.. note:: There are different features available in the app control, which are not available in the remote control.

.. note:: Visit the `Go2 App Control Demos`_ to know more about the app control features.

To control the :ref:`Unitree_go2` robot with the app, first of all you ned to turn the robot and app on.
To bind the app with robot read the :ref:`go2_app_binding` section.


App Control Demos
~~~~~~~~~~~~~~~~~

.. warning:: Before controlling the robot with the app, watch the tutorial videos in the app and also `Go2 App Control Demos`_.

Video below shows the posture and movement of the robot controlled by the app.

.. raw:: html

    <vid>
        <iframe width="680" height="350" src="https://www.youtube.com/embed/COp9HXf1d_o?si=FZFrPvihf9qpEJNG" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>    </vid>
    </vid>
    <br>

To know more about the app control demos, please visit the `Go2 App Control Demos`_.

Remote Control
---------------

To control the :ref:`Unitree_go2` robot with remote control, first of all you ned to turn the robot and remote control on.
To know how to turn the robot and remote control on, please refer to the :ref:`go2_startup` section.

Video below shows how to connect the remote control to the robot.

.. raw:: html

    <vid>
        <iframe width="680" height="350" src="https://www.youtube.com/embed/yyrR0eTFZHg?si=qyyfXf0Mfa9Iigtt" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
    </vid>
    <br>


Remote Control Parts
~~~~~~~~~~~~~~~~~~~~

.. _figure_remote_control:
.. figure:: ../../../_static/images/unitree_go2/go2_remote_control.png
   :width: 100%
   :align: center
   :alt: Go2 Remote Control

   Go2 Remote Control


:numref:`figure_remote_control` shows the parts of the remote control.
The parts names as follows:

    #. Right Rocker
    #. Left Rocker
    #. Key L1/L2
    #. Key R1/R2
    #. Type C Charging Interface
    #. Data transmission Signal Light
    #. Left Key
    #. Power Connect Indicator
    #. F1 Left Rocker Calibration Key
    #. SELECT Key
    #. Charging Status Indicator
    #. Power Indicator Light
    #. Power Button
    #. Data Transmission Indicator Light
    #. F3 Right Rocker Calibration Key
    #. START Key
    #. Right Key
    #. Bluetooth Signal Indicator Light


Remote Control Commands
~~~~~~~~~~~~~~~~~~~~~~~

.. table:: Remote Control Commands
    :align: center

    +----------------------------------------+------------------------------------------------+
    |               :guilabel:`Button`       |                :guilabel:`Effect`              |
    +---------------+------------------------+------------------------------------------------+
    | Left Rocker   | Push Forward/Backward  | Move back and forth                            |
    |               +------------------------+------------------------------------------------+
    |               | Push Left/Right        | Sideways Movement                              |
    +---------------+------------------------+------------------------------------------------+
    | Right Rocker  | Push Forward/Backward  | Head Up or Down                                |
    |               +------------------------+------------------------------------------------+
    |               | Push Left/Right        | Left or Right Turn                             |
    +---------------+------------------------+------------------------------------------------+
    +-----------------------------------------------------------------------------------------+
    |                             :guilabel:`Switch Mode`                                     |
    +-----------------------------------------------------------------------------------------+
    +----------------------------------------+------------------------------------------------+
    | START                                  | Get Unlocked                                   |
    +                                        +------------------------------------------------+
    |                                        | Walking Mode                                   |
    +                                        +------------------------------------------------+
    |                                        | Keep Walking Mode (Double Click)               |
    +----------------------------------------+------------------------------------------------+
    | SELECT                                 | Make a Pose                                    |
    +----------------------------------------+------------------------------------------------+
    | L2 (Long Press) + A (Click)            | Locking Posture 1:Lock the joints when standing|
    +                                        +------------------------------------------------+
    |                                        | Locking Posture 2:Press again to go prone      |
    +----------------------------------------+------------------------------------------------+
    | L2 (Long Press) + B (Click)            | Damping Mode (soft emergency stop)             |
    +----------------------------------------+------------------------------------------------+
    | L2 (Long Press) + START (Click)        | Running Mode                                   |
    +----------------------------------------+------------------------------------------------+
    | L2 (Long Press) + START (double Click) | Keeping Running Mode                           |
    +----------------------------------------+------------------------------------------------+
    | Right (Long Press) + START (Click)     | Stairs Climbing Mode1:                         |
    +                                        +                                                +
    |                                        | Upstairs Forward / Downstairs Backwards        |
    +----------------------------------------+------------------------------------------------+
    | Left (Long Press) + START (Click)      | Stairs Climbing Mode 2:                        |
    +                                        +                                                +
    |                                        | Upstairs Downstairs Forward                    |
    +----------------------------------------+------------------------------------------------+
    | L1 (Long Press) + SELECT (Click)       | Endurance Mode                                 |
    +----------------------------------------+------------------------------------------------+
    +-----------------------------------------------------------------------------------------+
    |                                :guilabel:`Customised Movements`                         |
    +-----------------------------------------------------------------------------------------+
    +----------------------------------------+------------------------------------------------+
    | L2 (Long Press) + X (Click)            | Back to Stand Up after falling down            |
    +----------------------------------------+------------------------------------------------+
    | R2 (Long Press) + A (Click)            | Stretch                                        |
    +----------------------------------------+------------------------------------------------+
    | R2 (Long Press) + B (Click)            | Shake hands                                    |
    +----------------------------------------+------------------------------------------------+
    | R2 (Long Press) + Y (Click)            | Cheer                                          |
    +----------------------------------------+------------------------------------------------+
    | R1 (Long Press) + X (Click)            | Punch                                          |
    +----------------------------------------+------------------------------------------------+
    | R1 (Long Press) + A (Click)            | Jump Forward                                   |
    +----------------------------------------+------------------------------------------------+
    | R1 (Long Press) + B (Click)            | Sit Down                                       |
    +----------------------------------------+------------------------------------------------+
    | L1 (Long Press) + A (Click)            | Dance 1                                        |
    +----------------------------------------+------------------------------------------------+
    | L1 (Long Press) + B (Click)            | Dance 2                                        |
    +----------------------------------------+------------------------------------------------+
    +-----------------------------------------------------------------------------------------+
    |                                     :guilabel:`Function`                                |
    +-----------------------------------------------------------------------------------------+
    +----------------------------------------+------------------------------------------------+
    | X (Click)                              | Avoidance on (Default)                         |
    +----------------------------------------+------------------------------------------------+
    | Y (Long Press for 3 second)            | Avoidance off                                  |
    +----------------------------------------+------------------------------------------------+
    | L2 (Click) + SELECT (Click)            | Searching Switch - Default off                 |
    +----------------------------------------+------------------------------------------------+
    | Arrow keys left and right              | Light switch - default green                   |
    +----------------------------------------+------------------------------------------------+
    +-----------------------------------------------------------------------------------------+
    |                                   :guilabel:`Parameters Settings`                       |
    +-----------------------------------------------------------------------------------------+
    +----------------------------------------+------------------------------------------------+
    | L1 + Arrow keys Up/Down                | Adjust leg lift height                         |
    +----------------------------------------+------------------------------------------------+
    | Arrow keys Up/Down                     | Adjust body height                             |
    +----------------------------------------+------------------------------------------------+

.. note::
    The ``Athletic Mode`` can be run only via ``Go2 App``. The athletic actions are:
        #. Moon Walk.
        #. Side Step.
        #. Cross Step.
        #. Parallel Leg Running.

.. note:: To have more information about the remote control, please read the documentation of the robot in Go2 App.