Teleop controls¶
The car listens to a Logitech F710 gamepad. It listens only in teleop mode, and only while a deadman button is held.
Setup¶
- Put the F710 front switch on X (XInput mode). This is required.
- Plug the receiver into the car.
- Stay within 10 feet of the car. Past that the link drops and the car coasts.
Two presets¶
Pick a preset with the D-pad. Change the preset only with both deadman buttons released and all sticks and triggers neutral.
| Preset | Select | Deadman | Throttle | Steering |
|---|---|---|---|---|
| Sticks | D-pad left | LB (hold) | Left stick Y | Right stick X |
| Triggers | D-pad right | A (hold) | LT and RT, signed | Left stick X |
Motor modes¶
X, Y, and B pick what the motor controller holds constant. The stick value in [-1, 1] scales to that mode's cap. Change the mode only with the deadman released and everything neutral. Pressing several mode buttons at once is ignored.
| Button | Mode | Cap | Feel |
|---|---|---|---|
| X | Current | Up to 20 A | You command torque. The car surges off the line and coasts when you let go. Use this near people. |
| Y | Electrical RPM | Up to 60,000 eRPM | You command speed. The controller adds whatever current it takes to hold it. This is how the trained policy drives. |
| B | Duty | Up to 100% | You command raw voltage as a fraction of the battery. Speed depends on load. |
Warning
eRPM and duty modes do not care what is in the way. A blocked wheel in eRPM mode pulls current to the limit and can damage the motor or the controller. Use current mode when you are close to the car or to people.
The full map¶
| Control | Action |
|---|---|
| LB (hold) | Sticks-preset deadman |
| Left stick Y | Sticks-preset throttle |
| Right stick X | Sticks-preset steering |
| A (hold) | Triggers-preset deadman |
| LT / RT | Triggers-preset signed throttle |
| Left stick X | Triggers-preset steering |
| D-pad left / right | Select sticks / triggers preset |
| X | Current control, up to 20 A |
| Y | Electrical-RPM control, up to 60,000 eRPM |
| B | Duty control, up to 100% |
Drive¶
- Power on. Wait for the boot beeps.
- Test the kill switch: B brakes, A arms.
- Pick a preset with the D-pad.
- Hold the deadman and drive.
- Release the deadman to coast with centered steering.
In the browser¶
The Hello Racer lab has a simulated car. Drive it with the arrow keys or WASD, or plug an F710 into your computer. The map is the same.
TODO (Rob): add the labeled F710 photo when the graphic is ready.