# Quick Start

## 1. Get the proto file

```bash
# Clone the repo (or just grab the proto file)
git clone https://github.com/menloresearch/asimov-firmware.git
cd asimov-firmware
```

## 2. Generate Python bindings

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

This creates `asimov_command_pb2.py`.

## 3. Send your first command

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

# Connect to robot
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
robot = ('192.168.1.100', 8888)  # Change to your robot's IP

# Send a command
cmd = RobotCommand()
cmd.mode = ControlMode.CONTROL_MODE_DAMP
cmd.enable = True
cmd.timestamp_us = int(time.time() * 1e6)
sock.sendto(cmd.SerializeToString(), robot)

print("Sent DAMP command")
```

## 4. Read telemetry

```python
import socket
from asimov_command_pb2 import RobotState

# Listen for telemetry
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('0.0.0.0', 9999))
sock.settimeout(1.0)

try:
    data, addr = sock.recvfrom(512)
    state = RobotState()
    state.ParseFromString(data)
    print(f"Battery: {state.battery_percent}%")
    print(f"Mode: {state.current_mode}")
except socket.timeout:
    print("No telemetry received (is the robot running?)")
```

## 5. Make it walk

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

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
robot = ('192.168.1.100', 8888)

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

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

# Start balancing
print("Balancing...")
send(ControlMode.CONTROL_MODE_START)
time.sleep(0.5)

# Walk forward
print("Walking forward...")
for _ in range(100):
    send(ControlMode.CONTROL_MODE_MOVE, vx=0.3)
    time.sleep(0.02)  # 50 Hz

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

## Important

- **Send commands at ≥10 Hz** or the robot E-stops (deadman switch)
- **Start in DAMP mode** before transitioning to STAND
- **Wait for STAND to complete** (~2 seconds) before sending START

## Next Steps

- [Examples](examples) - More Python scripts
- [Protocol Reference](protocol) - All the message fields