This is a manual about how to operate
the robot using the gamepad
This manual refers to the Logitech F710 Gamepad.
Manual - Autonomous
Switch between the manual and autonomous modes by using the buttons A, B, Y and
START.
To switch to manual mode, press B.
To switch to the autonomous mode line_following, press A.
To switch to the autonomous mode turning, press Y.
To switch to the autonomous field changing mode, press START.
Steering in manual mode
Driving
You drive by giving twist commands using the gamepad. Please be aware, that some inputs
can not be fulfilled by the currently active high-level controller. For example in the ackermann
steering mode, can not have an angular velocity, but no linear velocity in x-direction. In this
case, the robot prefers the linear inputs.
- Linear twist in x-direction
There are two possibilities to give a forward speed.
1) Press the RT trigger to drive forward and the LT trigger to drive backwards.
2) Move the right mini joystick up to drive forward and down to drive backward.
If the trigger and the mini joystick give inputs, the trigger input is prefered.
- Linear twist in y-direction
Move the right mini joystick to the left, to drive sidewards to the left and to the
right to drive to the right.
- Angular twist in z-direction
To turn the robot, you can give an angular velocity to it. Move the left mini
joystick to the left for a positive angular velocity and to the right, for a
negative angular velocity.
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