go1pylib: Python Library for Go1 Robot Control
==============================================

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go1pylib is a Python library designed for controlling the Go1 robot, providing high-level methods for robot movement, state management, and collision avoidance. With built-in functionality for MQTT communication and control modes, go1pylib is ideal for both development and research use in robotics applications.

Features
--------

- **Robot Control**: Seamlessly control Go1's movements, including forward, backward, turns, and various pose adjustments.
- **Collision Avoidance**: Built-in methods for safe navigation with customizable thresholds for obstacle detection.
- **Battery Monitoring**: Real-time battery status feedback with configurable LED indicators based on battery levels.
- **LED Control**: Control LED colors for custom feedback based on robot state or user-defined actions.
- **MQTT Communication**: Reliable MQTT communication interface for Go1 state management and control.
- **Multiple Control Modes**: Switch between modes such as WALK and STAND for different application scenarios.

Installation
------------

Install the latest version of go1pylib using pip:

.. code-block:: bash

    pip install go1pylib

Usage
-----

Here's a quick example demonstrating basic usage:

.. code-block:: python

    import asyncio
    from go1pylib import Go1, Go1Mode

    async def main():
        robot = Go1()
        robot.init()  # Connect to the robot

        # Set to WALK mode and move forward
        robot.set_mode(Go1Mode.WALK)
        await robot.go_forward(speed=0.3, duration_ms=1000)

        # Check battery status
        battery_level = robot.get_battery_level()
        print(f"Battery Level: {battery_level}%")

        # Stop and disconnect
        robot.set_mode(Go1Mode.STAND_DOWN)
        robot.disconnect()

    asyncio.run(main())

Examples
--------

Examples for controlling the robot, collision avoidance, and LED control can be found in the `examples` directory.

Project Structure
-----------------

.. code-block:: text

    go1pylib/
    ├── examples/
    │   ├── move_forward.py
    │   ├── dance.py
    │   └── avoid_obstacles.py
    ├── src/
    │   └── go1pylib/
    │       ├── go1.py
    │       ├── mqtt/
    │       ├── state.py
    │       └── ...
    ├── tests/
    └── README.md

Documentation
-------------

Complete documentation can be found `here <https://github.com/chinmaynehate/go1pylib>`_.

Contributing
------------

Contributions are welcome! Please see our `contributing guidelines <https://github.com/chinmaynehate/go1pylib/blob/main/CONTRIBUTING.md>`_ for more information.

License
-------

This project is licensed under the MIT License. See the `LICENSE <https://github.com/chinmaynehate/go1pylib/blob/main/LICENSE>`_ file for details.