Difference between revisions of "RemoteControl"
Elcanoadmin (talk | contribs) (→Automatic Control) |
Elcanoadmin (talk | contribs) (→Modes) |
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= Modes = | = Modes = | ||
| − | Trike behavior depends on the mode. In RC control, pulling the trigger in puts on the brakes. In Operator or Automatic mode, the RC unit is disabled, except that pulling the trigger in is an E-Stop. State transitions are shown in the diagram. | + | Trike behavior depends on the mode. In RC control, pulling the trigger in puts on the brakes. In Operator or Automatic mode, the RC unit is disabled, except that pulling the trigger in is an E-Stop. State transitions are shown in the diagram. An LED on the vehicle is set to a color in the diagram to indicate the mode. |
[[File:State transitions2A.png]] | [[File:State transitions2A.png]] | ||
Revision as of 18:13, 19 June 2026
RC controller
DumboRC X6FG 6 channel Radio Control Unit 2.4 GHz 4.8-10V. Installed summer 2024
Pulse width 1000-2000 milliseconds
- CH1 Steering
- CH2 Throttle / Brake
- CH3 2 way switch: Forward or reverse
- CH4 3 way slider switch: Manual or Automatic or Operator mode
- CH5 Rotary switch: Request to raise gate to undock.
- CH6 Rotary switch: Reserved
The system comes up in Manual (Controlled from RC) mode. The RC can switch the mode to Automatic or Operator. If no data comes from the RC, mode will transition to Operator.
Operator Control
If a person is riding the vehicle, they can use a joystick and switches for the same functionality as the RC controller
- Joystick Left-Right: Steering
- Joystick up/down: Throttle / Brake
- Switch: Forward or reverse
- Switch: Manual or Automatic mode
- Switch: Request to raise gate to undock.
^ There is an Emergency Stop button on the vehicle.
Automatic Control
In Automatic mode, the Nav computer sends equivalent commands over CAN. Automatic mode is selected by RC or Operator switch. There are separate Auto modes, depending on whether Auto was selected from the RC or Operator, since the response to E-stop differs.
Modes
Trike behavior depends on the mode. In RC control, pulling the trigger in puts on the brakes. In Operator or Automatic mode, the RC unit is disabled, except that pulling the trigger in is an E-Stop. State transitions are shown in the diagram. An LED on the vehicle is set to a color in the diagram to indicate the mode.
