Logitech F710 User manual

This is a manual about how to operate
the robot using the gamepad
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This manual refers to the Logitech F710 Gamepad.
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Manual - Autonomous
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Switch between the manual and autonomous modes by using the buttons A, B, Y and
START.
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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.
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Steering in manual mode
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Driving
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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.
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- Linear twist in x-direction
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There are two possibilities to give a forward speed.
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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.
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If the trigger and the mini joystick give inputs, the trigger input is prefered.
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- Linear twist in y-direction
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Move the right mini joystick to the left, to drive sidewards to the left and to the
right to drive to the right.
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- 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
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Press X to switch between the different high-level controllers in the order:

ackermann - swerve
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Backward Ackermann Steering
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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.
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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.
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Additional features
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Emergency stop
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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.
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To resume with driving, press X again. This switches back to the last high-level controller
before the emergency controller was activated.
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Ethercat
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To reset the ethercat, press the LB button.
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Further features
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Geese feet
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Press key UP to lift the geese feet.
Press key DOWN to lower the geese feet.
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 

Overview
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B manual mode
A autonomous line detection mode
Y autonomous turn mode
START autonomous field changing mode
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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
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Left and right trigger/vertical axis right minijoy drive forward and backward
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Horizontal axis right minijoy drive sidewards (only in swerve steering mode possible)
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Horizontal axis left minijoy angular velocity for turning
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Key UP/DOWN lift/lower geese feet
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