From b6b1dc410bc6b57192fc018f7fb773cab7a5ea09 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 21 Sep 2025 15:21:00 +0800
Subject: [PATCH] =?UTF-8?q?refactor(custom=5Frobot):=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=E5=91=BD=E4=BB=A4?=
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移除BodyHeight、SwitchGait、ContinuousGait、MoveToPos和FastWalk等不再使用的运动控制命令处理逻辑，简化代码结构
---
 src/custom_robot.cpp | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 9730e90..64f4aad 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -606,19 +606,8 @@ bool CustomRobot::processSportCmd(const std::string& cmd, const nlohmann::json&
             return controller_->EconomicGait();
         } else if (cmd == "SwitchAvoidMode") {
             return controller_->SwitchAvoidMode();
-        }
-        else if (cmd == "BodyHeight") {
-            return controller_->BodyHeight(message["param"]["height"]);
-        } else if (cmd == "SwitchGait") {
-            return controller_->SwitchGait(message["param"]["gait"]);
         } else if (cmd == "TrajectoryFollow") {
             return controller_->TrajectoryFollow(message["param"]["path"]);
-        } else if (cmd == "ContinuousGait") {
-            return controller_->ContinuousGait(message["param"]["flag"]);
-        } else if (cmd == "MoveToPos") {
-            return controller_->MoveToPos(message["param"]["x"], message["param"]["y"], message["param"]["yaw"]);
-        } else if (cmd == "FastWalk") {
-            return controller_->FastWalk(message["param"]["flag"]);
         } else if (cmd == "FootRaiseHeight") {
             return controller_->FootRaiseHeight(message["param"]["height"]);
         }