controls.md
The controller.py
provides an API to control the robot by emulating a PS4 controller, similar to this. Main difference is some keybinds are different, but it can also be called from code.
The UDP message
This is a breakdown of the dictionary's fields that is sent through UDPComms to the robot.
Note: values [-1,1]
means any values between -1 and 1 and values 1 or 0
are a toggle. This means that the first time 1
is sent, it will cause the value on the pupper to change. A 0
needs to be sent before another 1
will cause a toggle.
It is a good idea to use some sort of smoothing for lx
, ly
and rx
to avoid abrupt stops.
Keybinds
If running the controller manually, these are the controls:
Control sequence
Robot must first be activated, this will also trigger calibration if the pupper software was run with the --zero
flag. Then it must be in trotting mode and only then can it be controlled with other functions.
Last updated