Interbotix X Series - PS3 & PS4 Button Mappings

PS3 & PS4 Button Mappings
Button
Action
START / OPTIONS
move the robot to its Home pose
SELECT/SHARE
move the robot to its Sleep pose
R2
rotate the 'waist' joint clockwise
L2
rotate the 'waist' joint counterclockwise
Triangle
increase gripper pressure in 0.125 step increments (max is 1)
X
decrease gripper pressure in 0.125 step increments (min is 0)
O
open gripper
Square
close gripper
D-pad Up
increase the control loop rate in 1 Hz step increments (max of 40)
D-pad Down
decrease the control loop rate in 1 Hz step increments (min of 10)
D-pad Left
'coarse' control - sets the control loop rate to a user-preset 'fast' rate
D-pad Right
'fine' control - sets the control loop rate to a user-preset 'slow' rate
Right Stick
Up/Down
increase/decrease pitch of the end-effector
Right Stick
Left/Right
increase/decrease roll of the end-effector
R3
reverses the Right stick Left/Right control
Left Stick Up/Down
move the end-effector (defined at 'ee_gripper_link') vertically in
Cartesian space
Left Stick Left/Right
move the end-effector (defined at 'ee_gripper_link') horizontally in
Cartesian space
L3
reverses the Left stick Left/Right control
PS Button
If torqued on, holding for 3 seconds will torque off the robot; if torqued
off, tapping the button will torque on the robot
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