Gamepad Teleop: Easy Mode Mapping #21
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Flying Gripper mapping by default. Tap Y to switch between Flying Gripper mapping and Direct Control mapping When you launch stretch_gamepad_teleop default settings: Medium Speed Medium Strength Flying Gripper Mapping (Control Mode 1) Based on the feedback I got and my recent experience at UNH, I propose Direct Control Mapping to be the following, which fits everything on the controller except wrist roll (which would need the right trigger): Left Trigger for precision mode (Analog - the more you press, the slower it moves) D-pad up/down for lift D-pad left/right for arm Left Stick for Omnibase translation Right Trigger + Left Stick Makes the robot move in a straight line (Makes the analog stick 1/0 in either direction), useful for docking and moving in tight spaces. Right Stick for Pitch and Yaw Right Trigger + D-pad for Pitch and Yaw for folks that like to use the d-pad for pitch/yaw (?) Shoulder buttons for Omnibase rotate Right Trigger + Shoulder buttons for Roll A and B buttons for open close gripper (unchanged) Changing Settings: Y or Right Trigger + Y Change between Flying Gripper and Direct Control mappings (vibrates with a different sequence for each mode) Right Trigger + A Cycle Speed (vibrates longer for more speed) Right Trigger + B Cycle Strength (vibrates longer for more strength) Right Trigger + Select Read out the current settings When not homed: tap Start to home Hold Right Trigger + Hold Select to stow Hold Start or Right Trigger + Start for Left/Right Handed Mode
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… robot base rotation using the right stick
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Easy Mode Controller Mapping
A gamepad teleop mapping that fits all the controls except wrist roll on the main controller, without the Right Trigger.
Yto switch between Flying Gripper mapping and Direct Control mappingstretch_gamepad_teleopdefault settings:Left Triggerfor precision mode (Analog - the more you press, the slower it moves)D-pad up/downfor liftD-pad left/rightfor armLeft Stickfor Omnibase translationRight Trigger + Left StickMakes the robot move in a straight line (Makes the analog stick 1/0 in either direction), useful for docking and moving in tight spaces.Right Stickfor Pitch and YawShoulder buttonsfor Omnibase rotateRight Trigger + Shoulder buttonsfor RollAandBbuttons for open close gripper (unchanged)YorRight Trigger + YChange between Flying Gripper and Direct Control mappings (vibrates with a different sequence for each mode)Right Trigger + ACycle Speed (vibrates longer for more speed)Right Trigger + BCycle Strength (vibrates longer for more strength)Right Trigger + SelectRead out the current settingsStartto homeRight Trigger + Hold Selectto stowStartorRight Trigger + Startfor Left/Right Handed ModeTo Test
stretch_gamepad_teleopPlease also try the Improved Manipulation mapping: #22