Controlling the Arm

|++++|++++|-|_|-|_|-|_|-Construction-|_|-|_|-|_|++++|++++|

Switching to the arm currently involves toggling teleop (T) so the rover is in manual drive, which should also reveal and activate the arm, then press - or + to take control. Pressing + or - again will swap back. Will later be switched to a specific number. *Also, pressing +/- the first time you start the game doesn’t trigger the swap, for some reason. For 2025, the arm was controlled by an xbox controller with the following keybinds;

• Right stick
  • Left-Right: X-axis
  • Up-Down: J2
• Left stick
  • Left-Right: J4
  • Up-Down: J3
• Triggers: Pitch
• Bumpers: Roll
• D-Pad Left-Right: Gripper
• A, B: Laser (on, off)
• X, Y: Solenoid (out, in)

Additionally, for use with only a keyboard, the following bindings were placed;

• x-axis/J1; z-x
• J2 (shoulder-bicep) - shift-ctrl
• J3 (bicep-forarm) - w-s
• J4 (forearm roll) - a-f
• J5 (wrist up-down) - e-d
• J6 (gripper roll) - q-r
• Gripper Open-close; v-c (c to close, v shape when open)
• Solenoid - y-t (out-in; Pull the center line of T away from the rest to make Y)
• Lasers - g-h (g for light, h for hide)
• Camera Switch - [-]