Logitech F710 User Manual

This is a manual about how to operate
the robot using the gamepad

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.

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. 

Logitech F710 Specifications

General

Connectivity technology	Wireless
Device type	Gamepad
Reflex vibration	Yes
Gaming platforms supported	PC
Minimum system requirements	USB CD-ROM
Compatible operating systems	Win XP, Vista, 7
Harmonized System (HS) code	95049080

Summary

Autonomous Mode Switching

Switching Between Manual and Autonomous Modes

Controls for switching between manual, line following, turning, and field changing autonomous modes.

Manual Steering Controls

Driving Overview

Defines how gamepad inputs translate to robot movement and steering in manual mode.

Linear Movement Control

Controls forward/backward movement using triggers or right joystick.

Lateral Movement Control

Controls sideways movement using the right joystick's horizontal axis.

Angular Movement Control

Controls turning using the left joystick's horizontal axis.

Controller Switching and Advanced Features

High-Level Controller Switching

Mechanism to cycle through different robot control modes like ackermann and swerve.

Backward Ackermann Steering

Engages backward ackermann steering mode for reverse driving with rear wheels.

Emergency Stop Functionality

Immediate robot stoppage and switch to manual mode via RB button.

Ethercat Reset

Resets the Ethercat communication using the LB button.

Geese Feet Control

Lifting or lowering the robot's geese feet using UP/DOWN keys.

Gamepad Function Overview

Button Function Summary

Summary of all gamepad buttons and their assigned functions.

Joystick and Trigger Functions

Details on how joysticks and triggers control robot movement axes.