The principle of the robot dog walking in a straight line:
The main control board of the robot dog is equipped with a gyroscope, which can sense the current pitch, roll and yaw angle of the robot. The robot dog turns left and right to change the yaw angle. When the robot dog receives a move command, it will record the current yaw angle, keep the yaw angle unchanged during the movement, and update the yaw angle to be tracked if it receives a turn command.
There are two manifestations of the robot dog not walking in a straight line:
When moving forward, the robot dog walks diagonally, but the direction remains the same
In this case, when the robot dog is moving forward, you can twist its forward direction by hand to see if it can turn back to the original direction. If there is no rotation, it means that the gyroscope on the motherboard is invalid. Please restart and try again. If it still does not work after restarting several times, it means that the gyroscope is faulty. If the robot dog can turn back to the original forward direction after twisting, it means that the gyroscope is working normally. It may be caused by the inaccurate zero position of the steering gear. Please re-calibrate and try again.
The robot dog turns when moving forward, and the orientation changes greatly
It means that the gyroscope on the motherboard is invalid. Please restart and try again. If it still does not work after several restarts, it means the gyroscope is faulty.