From de6e080dca112420114b152f4533e95db74ff174 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 15:25:42 +0800
Subject: [PATCH] Revert "refactor(controller): Remove unused motion control
 methods"

This reverts commit bd023eaba3d80cab0895465f41deeb18054d6571.
---
 include/controller.hpp | 16 +++++++
 src/controller.cpp     | 96 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 112 insertions(+)

diff --git a/include/controller.hpp b/include/controller.hpp
index c80bf4b..b9a24e3 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -43,6 +43,7 @@ public:
     bool Hello();
     bool Stretch();
     bool SwitchJoystick(bool flag);
+    bool Content();
     bool Heart();
     bool Pose(bool flag);
     bool Scrape();
@@ -51,6 +52,21 @@ public:
     bool FrontPounce();
     bool Dance1();
     bool Dance2();
+    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 TrajectoryFollow(const std::vector<std::array<float, 6>>& path);
     bool FootRaiseHeight(float height);
     
diff --git a/src/controller.cpp b/src/controller.cpp
index d7cbb43..336bc3d 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -231,6 +231,12 @@ bool Controller::SwitchJoystick(bool flag) {
     });
 }
 
+bool Controller::Content() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->Content();
+    });
+}
+
 bool Controller::Heart() {
     return ExecuteSportCmd([](auto* sc) {
         return sc->Heart();
@@ -279,6 +285,96 @@ bool Controller::Dance2() {
     });
 }
 
+bool Controller::LeftFlip() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->LeftFlip();
+    });
+}
+
+bool Controller::BackFlip() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->BackFlip();
+    });
+}
+
+bool Controller::HandStand(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->HandStand(flag);
+    });
+}
+
+bool Controller::FreeWalk() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->FreeWalk();
+    });
+}
+
+bool Controller::FreeBound(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->FreeBound(flag);
+    });
+}
+
+bool Controller::FreeJump(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->FreeJump(flag);
+    });
+}
+
+bool Controller::FreeAvoid(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->FreeAvoid(flag);
+    });
+}
+
+bool Controller::ClassicWalk(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->ClassicWalk(flag);
+    });
+}
+
+bool Controller::WalkUpright(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->WalkUpright(flag);
+    });
+}
+
+bool Controller::CrossStep(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->CrossStep(flag);
+    });
+}
+
+bool Controller::AutoRecoverSet(bool flag) {
+    return ExecuteSportCmd([flag](auto* sc) {
+        return sc->AutoRecoverSet(flag);
+    });
+}
+
+bool Controller::StaticWalk() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->StaticWalk();
+    });
+}
+
+bool Controller::TrotRun() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->TrotRun();
+    });
+}
+
+bool Controller::EconomicGait() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->EconomicGait();
+    });
+}
+
+bool Controller::SwitchAvoidMode() {
+    return ExecuteSportCmd([](auto* sc) {
+        return sc->SwitchAvoidMode();
+    });
+}
+
 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