KINOVA
®
Communication system
User Guide
24
•
communication
- this lets you:
º
get_info
- view the status of the communication system
º
configure
- set the communication channel to use
•
radio
- radio interface (for communication adapter with radio option)
•
wired
- wired interface (Ethernet)
For each channel option, you have the choice of serial or Ethernet.
Note:
Use the Ethernet option only. The serial option has no effect.
•
features
- this lets you configure different features of the robot:
º
controller
- configure settings for the gamepad
•
get_info
- display current configurations for the gamepad
•
look_inversion
- flip the y-axis for the pitch up / down control on the thumbstick,
for the gripper orientation control response.
•
swap_thumbsticks
- swap the control mappings of the left and right thumbsticks.
º
protection_zones
- a protection zone defines a box-shaped zone surrounding the
robot where the gripper must not enter. This is used for obstacle avoidance. Protection
zones are labeled with a non-negative integer zone ID; they are defined in terms of two
points in the x-y plane representing two opposing corners of a rectangle, and the z values
for the top and bottom of the protection zone. Protection zones are defined in terms of
the reference frame of the robot base, as shown below.
