Remote Controller Instructions

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For detailed information on how to pair the remote controller, see:Remote Controller Pairing

Common Control Mappings

Biped-Wheeled Mode (Default)

Mode	Start Button	Left Switch	Right Switch	Description	Left Stick	Right Stick
None	Pressed	Middle	Any	Height adjustment	Forward & turn	Push forward to raise, backward to lower
None	Pressed	Up	Up	Pitch adjustment	Forward & turn	Forward = head up, backward = head down
03 (skill 1)	Pressed	Middle	Any	RL flat-ground mode	Forward & turn	Side-walking
04 (skill 2)	Pressed	Middle	Any	RL stair-climbing mode	Forward & turn	Disabled
06 (crawl mode)	Released	Any	Any	Vehicle mode	Forward & turn	Disabled

Quadruped Mode (Default)

Mode	Jump Button	Left Switch	Right Switch	Description	Left Stick	Right Stick
None	Released	Middle	Any	RL flat-ground mode	Forward & turn	Side-walking
03 (skill 1)	Released	Middle	Any	RL stair mode	Forward & turn	Side-walking
04 (skill 2)	Released	Middle	Any	RL high-platform mode	Forward & turn	Disabled
None	Pressed	Middle	Any	Rotational jump mode	Disabled	Disabled

State Machine

The controller’s internal FSM transitions as shown below.Arrows indicate permissible transitions between states.Quadruped control does not include the car state. An asterisk (*) in the menu indicates the current state (03–07).

Remote Controller Menu

1、Entering the Menu

• Press the right-side button to enter the menu:

Menu items:

• 01 Quadruped Mode (switching system service)

• 02 Unlock Bolt (requires switching to Biped-wheeled first)

• 03 Skill 1 (Biped-wheeled side-walk / quadruped stair climbing)

• 04 Skill 2 (Biped-wheeled stair-climb / quadruped high-platform)

• 05 Skill 3 (not used)

• 06 Crawl mode (Biped-wheeled only)

• 07 Lock joints

• 08 Joystick SDK mode (disables ROS 2 command publishing)

Unlock / Fusion Switching

Configuration Modification

Remote Controller Configuration（ROS2）

Edit the YAML parameters in the teleop_command package:

Motion Control Adjustments

• Modify control frequency in:

  Quadruped:

  vim /opt/y1_ros2/share/rl_controller/config/y1v0/controllers.yaml
  

  Biped-wheeled:

  vim /opt/y1_ros2/share/rl_controller/config/y1v0h_evt1/controllers.yaml
  

  Adjust the update_rate field (Hz). Default is 500 Hz.

ERROR CODE

Code	Description	Version
0x1000	First digit = read error, 2nd–3rd = motor error (00 01 03), 4th = motor index. Examples: 0x1000: all front motors offline 0x1008: all rear motors offline 0x1010: front left leg motor 0 offline 0x1033: wheel motor overvoltage
0x2000	Motor command transmission failure, usually “No buffer available”
0x100	Cannot switch to quadruped mode
0x200	Unlocking failed
0x385	Fusion connector CAN data abnormal, possibly disconnected or cable damaged