# Examples

## Prerequisites

```bash
pip install protobuf
protoc --python_out=. proto/asimov_command.proto
```

## Scripts

| Script | What it does |
|--------|--------------|
| stand_up.py | Make the robot stand |
| walk_forward.py | Walk in a direction |
| read_telemetry.py | Print sensor data |

## Running

```bash
# Change ROBOT_IP in the script, then:
python3 stand_up.py
```

## Common Pattern

All scripts follow the same structure:

```python
import socket
import time
from asimov_command_pb2 import RobotCommand, ControlMode

ROBOT_IP = '192.168.1.100'
ROBOT_PORT = 8888

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

def send(mode, vx=0, vy=0, vyaw=0):
    cmd = RobotCommand()
    cmd.mode = mode
    cmd.vx, cmd.vy, cmd.vyaw = vx, vy, vyaw
    cmd.enable = True
    cmd.timestamp_us = int(time.time() * 1e6)
    sock.sendto(cmd.SerializeToString(), (ROBOT_IP, ROBOT_PORT))

# Your control logic here
send(ControlMode.CONTROL_MODE_STAND)
```

## Stand Up

```python
#!/usr/bin/env python3
"""Make the robot stand up."""
import socket
import time
from asimov_command_pb2 import RobotCommand, ControlMode

ROBOT_IP = '192.168.1.100'
ROBOT_PORT = 8888

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

def send(mode, vx=0, vy=0, vyaw=0):
    cmd = RobotCommand()
    cmd.mode = mode
    cmd.vx, cmd.vy, cmd.vyaw = vx, vy, vyaw
    cmd.enable = True
    cmd.timestamp_us = int(time.time() * 1e6)
    sock.sendto(cmd.SerializeToString(), (ROBOT_IP, ROBOT_PORT))

# Enable motors (soft)
print("Enabling motors...")
send(ControlMode.CONTROL_MODE_DAMP)
time.sleep(0.5)

# Stand up
print("Standing up...")
send(ControlMode.CONTROL_MODE_STAND)
time.sleep(2.5)

print("Done!")
```

## Walk Forward

```python
#!/usr/bin/env python3
"""Walk forward for 5 seconds."""
import socket
import time
from asimov_command_pb2 import RobotCommand, ControlMode

ROBOT_IP = '192.168.1.100'
ROBOT_PORT = 8888

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

def send(mode, vx=0, vy=0, vyaw=0):
    cmd = RobotCommand()
    cmd.mode = mode
    cmd.vx, cmd.vy, cmd.vyaw = vx, vy, vyaw
    cmd.enable = True
    cmd.timestamp_us = int(time.time() * 1e6)
    sock.sendto(cmd.SerializeToString(), (ROBOT_IP, ROBOT_PORT))

# Stand up sequence
print("Standing up...")
send(ControlMode.CONTROL_MODE_STAND)
time.sleep(2.5)

print("Starting balance...")
send(ControlMode.CONTROL_MODE_START)
time.sleep(0.5)

# Walk forward at 0.3 m/s for 5 seconds
print("Walking forward...")
for _ in range(250):  # 5 seconds at 50 Hz
    send(ControlMode.CONTROL_MODE_MOVE, vx=0.3)
    time.sleep(0.02)

# Stop
print("Stopping...")
send(ControlMode.CONTROL_MODE_DAMP)
```

## Read Telemetry

```python
#!/usr/bin/env python3
"""Print telemetry data."""
import socket
from asimov_command_pb2 import RobotState

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('0.0.0.0', 9999))
sock.settimeout(5.0)

print("Waiting for telemetry...")

try:
    while True:
        data, addr = sock.recvfrom(512)
        state = RobotState()
        state.ParseFromString(data)

        print(f"Mode: {state.current_mode} | "
              f"Battery: {state.battery_percent}% | "
              f"Motors: {'ON' if state.motors_enabled else 'OFF'}")

except KeyboardInterrupt:
    print("\nDone")
except socket.timeout:
    print("No telemetry received - is the robot running?")
```