# 5

utils/base_msg.py

@@ -13,6 +13,16 @@ class BaseMsg:
         self.ctrl.Send_cmd(self.msg)
         self.ctrl.Wait_finish(0, 0)
 
+    def stop(self, wait_time=0):
+        self.msg.mode = 11
+        self.msg.gait_id = 26
+        self.msg.vel_des = [0, 0, 0]
+        self.msg.duration = 10
+        self.msg.life_count += 1
+        self.ctrl.Send_cmd(self.msg)
+        if wait_time:
+            time.sleep(wait_time)
+        
     def stop_smooth(self, current_vel=None, steps=3, delay=0.2):
         """
         平滑停止移动，通过逐步减小速度而不是强制停止