Controllers
===========

Logitech Controller
-------------------

1. **Logitech button** is to power on the controller.
2. **L1** is the dead man’s switch for slow speed.
3. **R1** is the dead man’s switch for high speed.
4. **LJ** is to move in x and y direction.

Steamdeck Controller
--------------------

.. figure:: media/pictures/husky_be/steamdeck.png
   :width: 100%
   :align: center
   :class: mbsrounded 

   Steamdeck

.. Note:: 
    The Steamdeck usage is in experimental phase. Loss of connection or (laggy connection) may lead to the robot moving and/or not stopping immediately. Caution 
    should be taken when using the Steamdeck for the operation of the robot!


Basic Controls
--------------

1. **Power button** is on the top of the Steamdeck with the power symbol.
2. **R2** for mouse left-click.
3. **L2** for mouse right-click.
4. **Left trackpad** for mouse scrolling.
5. **Right trackpad** for mouse movement.
6. **L2+R2** for middle mouse button click.
7. Hold the three dashes (located on the top right of the Steamdeck next to the Y button) for 3 seconds to enter *gamepadmode* and hold for 3 seconds again to return to *desktop mode*.

Initialization with Robot
-------------------------

Before usage:

1. Ensure the Steamdeck is connected to the robot’s WiFi access point.
2. Ensure the robot is powered on and operational.
3. Double tap the **Joystick Launcher** on the screen to activate the controller for the robot. (Do not open multiple instances of the joystick launchers, as this can cause zombie nodes.)
4. Double tap the **Rviz2 Launcher** on the screen to visualize the robot.

Robot Controls
--------------

1. **L1** is the dead man’s switch for slow speed.
2. **R1** is the dead man’s switch for high speed.
3. **LJ** is to move in x and y direction.
4. **R5** powers ON the UR5e.
5. **L5** powers OFF the UR5e only if the UR5e driver is running.