RemoteControl
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 mode
- CH5 Rotary switch: Request to raise gate to undock.
- CH6 Rotary switch: Reserved
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.
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.
