This page describes the default mapping for the Logitech F310 Gamepad using the Rexrov UUV and Oberon 7 arm. This same mapping is used for the as the default mapping for teleoperation of the other UUV models within the DAVE environment - see vehicle_examples.

Maneuvering the UUV

In the default mode (when the RB button is not depressed) gamepad controls UUV movement as follows.

Right Analog Mini Stick

• Up: Thrust forward.
• Down: Thrust reverse.
• Left: Slide left.
• Right: Slide right.

Left Analog Mini Stick

• Up: Lift.
• Down: Sink.
• Left: Rotate counter-clockwise.
• Right: Rotate clockwise.

Manipulating the Oberon 7 Robot Arm

When the RB button is depressed, the gamepad controls the Oberon 7 Arm (part names are based on the ViperX-250 specifications).

Right Analog Mini Stick

• Left: Swivel waist left.
• Right: Swivel waist right.
• Up: Swivel waist up.
• Down: Swivel waist down.

Left Analog Mini Stick

• Left: Rotate wrist clockwise.
• Right: Rotate wrist counter-clockwise.
• Up: Swivel elbow up.
• Down: Swivel elbow down.

DPAD

• Up: Swivel wrist up.
• Down: Swivel wrist down.

Buttons

• B: Open grabber.
• X: Close grabber.

Note: There is a noticeable delay in response time for arm controls, presumably by design.