查看官方库说明：
/*****************************************************************
Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
*****************************************************************/
#ifndef _UNITREE_LEGGED_JOYSTICK_H_
#define _UNITREE_LEGGED_JOYSTICK_H_#include <stdint.h>
// 16b
typedef union {struct {uint8_t R1 : 1;uint8_t L1 : 1;uint8_t start : 1;uint8_t select : 1;uint8_t R2 : 1;uint8_t L2 : 1;uint8_t F1 : 1;uint8_t F2 : 1;uint8_t A : 1;uint8_t B : 1;uint8_t X : 1;uint8_t Y : 1;uint8_t up : 1;uint8_t right : 1;uint8_t down : 1;uint8_t left : 1;} components;uint16_t value;
} xKeySwitchUnion;// 40 Byte (now used 24B)
typedef struct {uint8_t head[2];xKeySwitchUnion btn;float lx;float rx;float ry;float L2;float ly;uint8_t idle[16];
} xRockerBtnDataStruct;#endif // _UNITREE_LEGGED_JOYSTICK_H_首先可以确定遥控器有以下按键：
class wirelessRemote:buf = []l1_switch = 0l2_switch = 0r1_switch = 0r2_switch = 0start_switch = 0select_switch = 0f1_switch = 0f2_switch = 0left_cross_switch = [0, 0, 0, 0]right_cross_switch = [0, 0, 0, 0]left_stick = [0., 0.]right_stick = [0., 0.]读取state.wirelessRemote可以得到一个40字节的数据
[85, 81, 0, 0, 64, 49, 173, 186, 30, 155, 58, 186, 97, 226, 125, 187, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 0]0，1两位为帧头，2到24位为数据帧，后续为空数据，最后两位应该是校验和。但是我没找到对应的校验方式。
其余位的数据解析如下：
if state.wirelessRemote[:2] == [85, 81]:buf = bytes(state.wirelessRemote)ps.buf = bufswitch_data = struct.unpack("BB", buf[2:4])ps.l1_switch = (switch_data[0] >> 1) & 1ps.l2_switch = (switch_data[0] >> 5) & 1ps.r1_switch = (switch_data[0] >> 0) & 1ps.r2_switch = (switch_data[0] >> 4) & 1ps.start_switch = (switch_data[0] >> 2) & 1ps.select_switch = (switch_data[0] >> 3) & 1ps.f1_switch = (switch_data[0] >> 6) & 1ps.f2_switch = (switch_data[0] >> 7) & 1ps.left_cross_switch = [(switch_data[1] >> 4) & 1, (switch_data[1] >> 6) & 1, (switch_data[1] >> 5) & 1, (switch_data[1] >> 7) & 1]ps.right_cross_switch = [(switch_data[1] >> 3) & 1, (switch_data[1] >> 0) & 1, (switch_data[1] >> 1) & 1, (switch_data[1] >> 1) & 1]ps.left_stick[0] = struct.unpack('<f', buf[4:8])[0]ps.right_stick[0] = struct.unpack('<f', buf[8:12])[0]ps.right_stick[1] = struct.unpack('<f', buf[12:16])[0]ps.left_stick[1] = struct.unpack('<f', buf[20:24])[0]# print(f"Stamp: {stamp}")# print(f"Left Stick: {ps.left_stick[0]:.2f}, {ps.left_stick[1]:.2f}")# print(f"Right Stick: {ps.right_stick[0]:.2f}, {ps.right_stick[1]:.2f}")# print(f"Switches: {ps.l1_switch}, {ps.l2_switch}, {ps.r1_switch}, {ps.r2_switch}")# print(f"Switches: {ps.left_cross_switch}, {ps.right_cross_switch}")# print()
