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

_images/steamdeck.png

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.