Logitech F710 Manual de usuario

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. 

Switching between high-level controllers



Press X to switch between the different high-level controllers in the order:



ackermann - swerve



Backward Ackermann Steering



Press the BACK button, to change to the backward ackermann steering. You have to be in

ackermann steering mode and in manual mode, to do so. To switch back, press BACK again.



The backward ackermann steering controller is the same as the normal ackermann steering

controller, with the difference, that the controller suggests the back of the robot as front and

vice versa. This means, that if one gives forward command, the robot actually drives

backward and steers with the back wheels. This is very useful when driving backwards.



Additional features



Emergency stop



To stop the robot immediately, no matter in which mode it is, press the RB button. The robot

switches to the emergency controller and to manual mode.



To resume with driving, press X again. This switches back to the last high-level controller

before the emergency controller was activated.



Ethercat



To reset the ethercat, press the LB button.



Further features



Geese feet



Press key UP to lift the geese feet.

Press key DOWN to lower the geese feet.



 

Overview



B manual mode

A autonomous line detection mode

Y autonomous turn mode

START autonomous field changing mode



X switching between high-level controllers (only in manual mode possible)

RB activate emergency controller to stop the robot and switch to manual mode

STOP activate/deactivate backward steering controller

LB reset the ethercat



Left and right trigger/vertical axis right minijoy drive forward and backward



Horizontal axis right minijoy drive sidewards (only in swerve steering mode possible)



Horizontal axis left minijoy angular velocity for turning



Key UP/DOWN lift/lower geese feet



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