Joystick

Joystick Tester

If you plan on using a joystick to control your platform make sure you can see the joystick with this tool first.

sudo apt-get install jstest-gtk
jstest-gtk

If the ROS package is running you can run this command:

rostopic echo /segway/cmd_vel

• Hold the deadman and move around the joystick. If it's working you should see commanded input.

Buttons For Logitech F710/F310

• The mode light should not be lit If you are having trouble ensure that the mode light located on the top of the joystick is off.

  • Basic xbox360 style operation
    • 1 button is Tractor Mode
    • 3 button is Standby Mode
    • 4 button is Balance Mode (only for the 220)
    • Left Trigger is deadman (must squeeze to command motion)
    • Right Trigger is manual override for assisted teleop
    • Left DPAD makes a catcall
    • Left joystick forward/back +/-x linear velocity
    • Left joystick left/right +/-y linear velocity (only for OMNI)
    • Right joystick left/right +/-z angular
    • LB Decel to disable emergency response
    • RB Decel to zero speed emergency response
    • Start button Powerdown request

Buttons For Logitech Extreme 3D PRO

• It's possible to use this joystick but you'll need to ensure the correct settings / mapping are applied. Its best to use the F710 listed above if you are unsure.