feat(controller): 添加运动切换命令处理和多种运动控制功能

添加对运动切换命令(CheckMode/SelectMode/ReleaseMode)的处理支持
在Controller类中新增多种运动控制功能接口
更新README文档以包含新增的运动切换命令和功能说明

include/controller.hpp

@@ -36,9 +36,44 @@ public:
     bool RecoveryStand();
     bool StopMove();
     bool BalanceStand();
+    bool Euler(float roll, float pitch, float yaw);
+    bool Move(float vx, float vy, float vyaw);
+    bool RiseSit();
+    bool SpeedLevel(int level);
+    bool Hello();
+    bool Stretch();
+    bool SwitchJoystick(bool flag);
+    bool Content();
+    bool Heart();
+    bool Pose(bool flag);
+    bool Scrape();
+    bool FrontFlip();
+    bool FrontJump();
+    bool FrontPounce();
     bool Dance1();
     bool Dance2();
-    bool Hello();
+    bool LeftFlip();
+    bool BackFlip();
+    bool HandStand(bool flag);
+    bool FreeWalk();
+    bool FreeBound(bool flag);
+    bool FreeJump(bool flag);
+    bool FreeAvoid(bool flag);
+    bool ClassicWalk(bool flag);
+    bool WalkUpright(bool flag);
+    bool CrossStep(bool flag);
+    bool AutoRecoverSet(bool flag);
+    bool StaticWalk();
+    bool TrotRun();
+    bool EconomicGait();
+    bool SwitchAvoidMode();
+    bool BodyHeight(float height);
+    bool SwitchGait(int gait);
+    bool TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
+    bool ContinuousGait(bool flag);
+    bool MoveToPos(float x, float y, float yaw);
+    bool FastWalk(bool flag);
+    bool FootRaiseHeight(float height);
     
     // Obstacle 
     bool SwitchSet(bool enable);

include/custom_robot.hpp

@@ -39,6 +39,7 @@ public:
     bool processSportCmd(const std::string& cmd, const nlohmann::json& message);
     bool processRscCmd(const std::string& cmd, const nlohmann::json& message);
     bool processNavCmd(const std::string& cmd, const nlohmann::json& message);
+    bool processMscCmd(const std::string& cmd, const nlohmann::json& message);
     void printServiceList(const std::vector<unitree::robot::go2::ServiceState>& serviceList, int filterStatus = -1);
 
 private: