From 97d048339bf95be12e97403ffaf1b184c8ea8a29 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 21 Sep 2025 14:45:30 +0800
Subject: [PATCH] =?UTF-8?q?refactor(controller):=20=E7=A7=BB=E9=99=A4?=
 =?UTF-8?q?=E6=9C=AA=E4=BD=BF=E7=94=A8=E7=9A=84=E8=BF=90=E5=8A=A8=E6=8E=A7?=
 =?UTF-8?q?=E5=88=B6=E6=96=B9=E6=B3=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

清理Controller类中不再使用的BodyHeight、SwitchGait、ContinuousGait和Dance2方法，以简化代码结构
---
 src/controller.cpp | 23 -----------------------
 1 file changed, 23 deletions(-)

diff --git a/src/controller.cpp b/src/controller.cpp
index 51066b9..fbadcc4 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -375,18 +375,6 @@ bool Controller::SwitchAvoidMode() {
     });
 }
 
-bool Controller::BodyHeight(float height) {
-    return ExecuteSportCmd([height](auto* sc) {
-        return sc->BodyHeight(height);
-    });
-}
-
-bool Controller::SwitchGait(int gait) {
-    return ExecuteSportCmd([gait](auto* sc) {
-        return sc->SwitchGait(gait);
-    });
-}
-
 bool Controller::TrajectoryFollow(const std::vector<std::array<float, 6>>& path) {
     // This function requires special handling as it needs to convert the path format
     // For now, we'll provide a basic implementation
@@ -397,11 +385,6 @@ bool Controller::TrajectoryFollow(const std::vector<std::array<float, 6>>& path)
     });
 }
 
-bool Controller::ContinuousGait(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->ContinuousGait(flag);
-    });
-}
 
 bool Controller::MoveToPos(float x, float y, float yaw) {
     return ExecuteSportCmd([x, y, yaw](auto* sc) {
@@ -424,12 +407,6 @@ bool Controller::FootRaiseHeight(float height) {
     });
 }
 
-bool Controller::Dance2() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->Dance2();
-    });
-}
-