From 175b37ad49ada55ecd3d1055114ebc0920961b0d Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Tue, 23 Sep 2025 19:22:08 +0800
Subject: [PATCH] refactor(controller): Replace ClassicWalk with StaticWalk
 method

- Renamed the ClassicWalk method to StaticWalk in the controller interface, removing the flag parameter for a simplified usage.
- Updated the implementation to reflect the new method signature, ensuring consistency across the controller functionality.
---
 include/controller.hpp |  2 +-
 src/controller.cpp     | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/controller.hpp b/include/controller.hpp
index 895e7f8..2a7134a 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -58,7 +58,7 @@ public:
     bool FreeBound(bool flag);
     bool FreeJump(bool flag);
     bool FreeAvoid(bool flag);
-    bool ClassicWalk(bool flag);
+    bool StaticWalk();
     bool WalkUpright(bool flag);
     bool CrossStep(bool flag);
     bool TrajectoryFollow(std::vector<unitree::robot::go2::PathPoint>& path);
diff --git a/src/controller.cpp b/src/controller.cpp
index dd0760e..0fd8bae 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -287,13 +287,13 @@ bool Controller::Dance2() {
 
 bool Controller::LeftFlip() {
     return ExecuteSportCmd([](auto* sc) {
-        // return sc->LeftFlip();
+        return sc->LeftFlip();
     });
 }
 
 bool Controller::BackFlip() {
     return ExecuteSportCmd([](auto* sc) {
-        // return sc->BackFlip();
+        return sc->BackFlip();
     });
 }
 
@@ -321,9 +321,9 @@ bool Controller::FreeAvoid(bool flag) {
     });
 }
 
-bool Controller::ClassicWalk(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->ClassicWalk(flag);
+bool Controller::StaticWalk() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->StaticWalk();
     });
 }