② 原地圆形摆动例程（parallel_dog_drawCircle.ino）：

/*------------------------------------------------------------------------------------版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-06-26 https://www.robotway.com/------------------------------*//*****Copyright 2017 Robot TIme原地圆形摆动例程*****/#include "Tlc5940.h"#include "tlc_servos.h"#include <math.h>#include "types.h"#include "config.h"// 相关函数声明/***** 红外相关函数 *****/void IRInit(); //红外初始化void enableIR(); //红外使能void disableIR(); //关闭红外void updateIR(); //红外避障更新动作/***** 平衡相关函数 *****/void switchAdjustStat(uint stat); //切换平衡调节模式 不调节/原地调节/行进间调节void readGyroSerial(); //读取陀螺仪串口消息void adjustAct(); //平衡调节动作/****** 腿部动作相关函数 *****/void setTurnLeftFlag(bool flag); //修改左转状态标志位void setTurnRightFlag(bool flag); //修改右转状态标志位void leg1(); //更新1号腿（左前）位置void leg2(); //更新2号腿（左后）位置void leg3(); //更新3号腿（右前）位置void leg4(); //更新4号腿（右后）位置bool calc(Point3d p, bool leg1, bool leg2, bool leg3, bool leg4); //逆解计算函数/***** 整机动作相关函数 *****/void dogReset(Point3d initPos, uint waitTime); //复位动作void dogInit(); //初始化动作void upDown(float x, float y, float z1, float z2, uint times); //蹲起动作void drawCircle(float ox, float oy, float z, float r, uint times); //原地圆形摆动动作void stepping(float x, float y, float z1, float z2, uint times); // 原地踏步动作void liftShoulder(uint height, uint times); //原地摆臂动作//动作周期计数器int cycleCount;//复位计数器void resetCycleCount(){cycleCount = -1;}void updateCycleCount(){cycleCount++;}//当前运动状态dogMode currentMode;//切换运动状态void setMode(dogMode mode){if (mode == currentMode) return;if (mode == DOG_MODE_TURN_LEFT){setTurnLeftFlag(true);setTurnRightFlag(false);} else if (mode == DOG_MODE_TURN_RIGHT){setTurnLeftFlag(false);setTurnRightFlag(true);} else {setTurnLeftFlag(false);setTurnRightFlag(false);}if (mode == DOG_MODE_BACK) //后退时关闭红外传感器{disableIR();} else if (mode == DOG_MODE_STOP) //静止后开始原地姿态调节{switchAdjustStat(ADJUST_STAT_LEG);dogReset({0, 0, Leg_Init_Z_Pos}, 200);}currentMode = mode;}void updateMode(){if (cycleCount == MOTION_TIMES + 1) setMode(DOG_MODE_BACK);if (cycleCount == 3 * MOTION_TIMES) setMode(DOG_MODE_LEFT);if (cycleCount == 4 * MOTION_TIMES) setMode(DOG_MODE_RIGHT);if (cycleCount == 5 * MOTION_TIMES) setMode(DOG_MODE_RIGHT_FRONT);if (cycleCount == 6 * MOTION_TIMES) setMode(DOG_MODE_RIGHT_BACK);if (cycleCount == 7 * MOTION_TIMES) setMode(DOG_MODE_LEFT_BACK);if (cycleCount == 8 * MOTION_TIMES) setMode(DOG_MODE_LEFT_FRONT);if (cycleCount == 9 * MOTION_TIMES) setMode(DOG_MODE_TURN_LEFT);if (cycleCount == 10 * MOTION_TIMES) setMode(DOG_MODE_TURN_RIGHT);if (cycleCount == 11 * MOTION_TIMES) setMode(DOG_MODE_STOP);}void setup(){//陀螺仪连接串口，波特率115200Serial.begin(115200);//舵机驱动板初始化Tlc.init(0);tlc_initServos();   // Note: this will drop the PWM freqency down to 50Hz.//红外传感器初始化IRInit();//大狗身体初始化dogInit();//原地做圆形摆动10周后停止drawCircle(0, 0, -120, 60, 10);while(1);}void loop(){}

③ 原地蹲起例程（parallel_dog_updown.ino）：

/*------------------------------------------------------------------------------------版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.Distributed under MIT license.See file LICENSE for detail or copy athttps://opensource.org/licenses/MITby 机器谱 2023-06-26 https://www.robotway.com/------------------------------*//*****Copyright 2017 Robot TIme原地蹲起例程*****/#include "Tlc5940.h"#include "tlc_servos.h"#include <math.h>#include "types.h"#include "config.h"// 相关函数声明/***** 红外相关函数 *****/void IRInit(); //红外初始化void enableIR(); //红外使能void disableIR(); //关闭红外void updateIR(); //红外避障更新动作/***** 平衡相关函数 *****/void switchAdjustStat(uint stat); //切换平衡调节模式 不调节/原地调节/行进间调节void readGyroSerial(); //读取陀螺仪串口消息void adjustAct(); //平衡调节动作/****** 腿部动作相关函数 *****/void setTurnLeftFlag(bool flag); //修改左转状态标志位void setTurnRightFlag(bool flag); //修改右转状态标志位void leg1(); //更新1号腿（左前）位置void leg2(); //更新2号腿（左后）位置void leg3(); //更新3号腿（右前）位置void leg4(); //更新4号腿（右后）位置bool calc(Point3d p, bool leg1, bool leg2, bool leg3, bool leg4); //逆解计算函数/***** 整机动作相关函数 *****/void dogReset(Point3d initPos, uint waitTime); //复位动作void dogInit(); //初始化动作void upDown(float x, float y, float z1, float z2, uint times); //蹲起动作void drawCircle(float ox, float oy, float z, float r, uint times); //原地圆形摆动动作void stepping(float x, float y, float z1, float z2, uint times); // 原地踏步动作void liftShoulder(uint height, uint times); //原地摆臂动作//动作周期计数器int cycleCount;//复位计数器void resetCycleCount(){cycleCount = -1;}void updateCycleCount(){cycleCount++;}//当前运动状态dogMode currentMode;//切换运动状态void setMode(dogMode mode){if (mode == currentMode) return;if (mode == DOG_MODE_TURN_LEFT){setTurnLeftFlag(true);setTurnRightFlag(false);} else if (mode == DOG_MODE_TURN_RIGHT){setTurnLeftFlag(false);setTurnRightFlag(true);} else {setTurnLeftFlag(false);setTurnRightFlag(false);}if (mode == DOG_MODE_BACK) //后退时关闭红外传感器{disableIR();} else if (mode == DOG_MODE_STOP) //静止后开始原地姿态调节{switchAdjustStat(ADJUST_STAT_LEG);dogReset({0, 0, Leg_Init_Z_Pos}, 200);}currentMode = mode;}void updateMode(){if (cycleCount == MOTION_TIMES + 1) setMode(DOG_MODE_BACK);if (cycleCount == 3 * MOTION_TIMES) setMode(DOG_MODE_LEFT);if (cycleCount == 4 * MOTION_TIMES) setMode(DOG_MODE_RIGHT);if (cycleCount == 5 * MOTION_TIMES) setMode(DOG_MODE_RIGHT_FRONT);if (cycleCount == 6 * MOTION_TIMES) setMode(DOG_MODE_RIGHT_BACK);if (cycleCount == 7 * MOTION_TIMES) setMode(DOG_MODE_LEFT_BACK);if (cycleCount == 8 * MOTION_TIMES) setMode(DOG_MODE_LEFT_FRONT);if (cycleCount == 9 * MOTION_TIMES) setMode(DOG_MODE_TURN_LEFT);if (cycleCount == 10 * MOTION_TIMES) setMode(DOG_MODE_TURN_RIGHT);if (cycleCount == 11 * MOTION_TIMES) setMode(DOG_MODE_STOP);}void setup(){//陀螺仪连接串口，波特率115200Serial.begin(115200);//舵机驱动板初始化Tlc.init(0);tlc_initServos();   // Note: this will drop the PWM freqency down to 50Hz.//红外传感器初始化IRInit();//大狗身体初始化dogInit();//原地蹲起10次后停止upDown(0, 0, -160, -90, 10);while(1);}void loop(){}

④ 原地踏步例程（parallel_dog_stepping.ino）：