"""相对前进 5 cm;等待超时后取消并停车."""
from libark.robot.hw1.chassis import Chassis


def main() -> None:
    with Chassis() as chassis:
        chassis.enable()
        motion = chassis.move_to_relative(0.05, 0.0, 0.0, blocking=False)
        try:
            print("运动完成:", motion.wait(timeout=10.0))
            print("完成位姿:", chassis.get_state().pose)
        except BaseException:
            motion.cancel()
            chassis.stop()
            raise


if __name__ == "__main__":
    main()