> For the complete documentation index, see [llms.txt](https://directdrivetech.gitbook.io/development-manual/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://directdrivetech.gitbook.io/development-manual/software-api/motion-control.md).

# Motion Control

{% hint style="info" %}
First, you need to open the API calling interface.

```
vim /usr/share/tita_bringup/params/default_param.yaml
Change the `control_motion_mode` field in `locomotion_manager` to `1`.
 0: controller control moded
 1: api control mode
 2: autonomy control mode
```

{% endhint %}

### Stand

**Function Overview：**Enter the standing mode to control the standing posture.

**Topic**：`command/controller/lock`

**Msg Type：**`tita_motion_msgs/msg/ControllerCommandLock`

**Code Example：**`ros2 topic pub /tita2303895/command/controller/lock tita_motion_msgs/msg/ControllerCommandLock "{lock_state: 2}" -1`

### Height <a href="#gao-du" id="gao-du"></a>

**Function Overview：**&#x43;ontrol the robot's postural elevation through programming.

**Topic**：`locomotion/move_target/height`

**Msg Type**：`tita_motion_msgs/msg/Height`

**Code Example**：`ros2 topic pub -r 30 /{ns}/locomotion/move_target/height tita_motion_msgs/msg/Height "{height: 0.2}"`

**Value Range：**&#x68;eight max 0.30 min 0.09

**Notices**：Sending frequency ≥ 30 HZ.

### Pitch and Roll

**Function Overview：**&#x50;itch and roll commands need to be sent simultaneously; Currently Control: linear.x forward and backward velocity, angular.z left and right turn velocity, linear.y roll angular velocity, angular.y pitch angular velocity; Not Used (set as empty): linear.z and angular.x.

**Topic**：`command/controller/api/move`

**Msg Type：**`geometry_msgs/msg/TwistStamped`

**Code Example：**`ros2 topic pub /{ns}/command/controller/api/move geometry_msgs/msg/TwistStamped "{ twist: {linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"`

**Value Range：**

linear x min : ±0.82. max ±1.52

twist.angular.z min: ±0.42 max ±1.42

height min: 0.09 max: 0.30

linear.y: ±0.942(0.3 \* PI)

angular.y: ±0.2

**Notices**：Sending frequency ≥ 30 HZ.

### Jump <a href="#tiao-yue" id="tiao-yue"></a>

**Function Overview：**&#x54;his API is used to control the robot's jumping action.

**Topic**：`command/controller/jump`

**Msg Type**：`tita_motion_msgs/msg/ControllerCommandJump`

**Code Example**：`ros2 topic pub /{ns}/command/controller/jump tita_motion_msgs/msg/ControllerCommandJump "{jump_state: 2}" -1`

**Value Range**：

jump\_state = **JUMP 0x02**

**IDLE 0x00 /CHARGE 0x01 /JUMP 0x02**

### Machine Status

**Function Overview：**&#x54;his interface is for monitoring the current posture of the machine, allowing you to know whether the current machine status and feedback information match.

**Topic**：`locomotion/locomotion_status`

**Msg Type**：`tita_motion_msgs::msg::LocomotionStatus`

**Code Example：**`ros2 topic echo /{ns}/locomotion/locomotion_status`

**Value Range**：

DIE = 0x00

INIT = 0x01

TRANSFORM\_UP =0x02

STAND = 0x03

TRANSFORM\_DOWN = 0x04

CRASH = 0x05

SUSPENDING = 0x06

JUMP = 0x07