Welcome to DOFBOT-Ultra repository
2. USB Handle Control
USB Handle Control
Start the USB Handle Control Program
The factory image of the arm has the handle control function configured to start together with the APP control service at boot. You can connect and control it directly.
If the auto-start APP service is disabled, you can start the USB handle control program using the following commands.
For Raspberry Pi, open a system terminal and enter:
python3 /home/yahboom/dofbot_ultra/app/APP_DOFBOT_ULTRA/joystick.py
For RDK X5, open a system terminal and enter:
xxxxxxxxxxpython3 /home/sunrise/dofbot_ultra_ws/src/app/APP_DOFBOT_ULTRA/joystick.py
Connect the USB Handle
Make sure the USB wireless handle receiver is plugged into the motherboard USB port before powering on.
Install the batteries in the wireless handle.
Slide the power switch on the wireless handle to [ON].
Press the [START] button to activate the handle. After successful connection, press [START] again. The buzzer will beep once.
You can now start controlling the arm.
USB Handle Button Functions
The button functions are shown in the image below:
- Up/Down controls joint 2, Left/Right controls joint 1.
- Up/Down controls joint 3, Left/Right has no function.
- Up/Down controls joint 4, Left/Right controls joint 5.
- Y and A control joint 6 (gripper), X and B have no function.
- L1 increases arm speed, L2 decreases arm speed.
- R1 closes the gripper to grip a 3 cm block, R2 opens the gripper.
- [SELECT] returns the arm joint angles to the initial position. [START] activates the handle, buzzer beeps. [MODE] mode switch. Do not press this button.
Note: When the wireless handle is idle for several minutes, it automatically enters sleep mode. Press the [START] button to activate it. After hearing the buzzer, you can start controlling the arm.