We need to define what kind of user control system we want to implement. Up until now we have used the dual-joystick model for the driver and a game controller for the operator. There's no reason to do this if there's good reason not to. Let's decide what we want to do now so that we can implement it for the practice bot (after all practice using the final interface is crucial).
Please post pros and cons for different interfaces. Start with the driver's interface. The operator's interface can wait until we know more about what and how our robot will work.
1. Dual-Joystick
Pros:
- Good granularity
- The driver won't be able to stick jam when under pressure
- lots of buttons
Cons:
- moving the stick exactly forwards is difficult
- resting palm on the base can occasionally result in pressing a button
This, for me is the preferred control scheme
2. Console controller(Xbox, ps3/4, wii u pro(?))
Pros:
- most people are familiar with it
- lots of buttons
Cons:
- moving the stick exactly forwards is difficult
- moving the joystick with your thumb is very difficult to do accurately
3. Keyboard and mouse
Would you consider a single joystick with rotational capability? If the gyro is set to field centric mode, then moving joystick in the direction you want the robot to go on the field is "intuitive"; the speed would be a function of how far "over" you pushed the stick. If the stick has rotation capability, then you can turn the robot to face the desired direction independent of the direction of travel. For close up positioning, you might want to switch the gyro to robot=centric orientation, but would want to use the notebook screen and a camera to keep yourself oriented. Presumably you could set various buttons for preset field centric orientations (such as facing the boiler or the airship lifts or rope).
Here's what we'll do as a first pass:
Left joystick - Y-axis: forwards/backwards
X-axis: strafe left/right
Right joystick - X-axis (tilt, not rotate): rotate about center (yaw)
A new topic about the user interface has been posted in the Software section of the forum. It's there because the software folks have to make it work and it's easier for them to refer to the thread there.
See it here: http://www.team4048.org/smf/index.php?topic=161.0