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Bluetooth Connections

1.  Make sure all devices that your PS4 controller has previously been 

paired with are off. This enables the PS4 controller to search for and 

connect to your Tele-Op module. 

2.  Make sure the PS4 controller is off.
3.  Plug the Bluetooth dongle into the Tele-Op module’s USB port.
4.  Turn on the PRIZM controller. The PRIZM controller and the Tele-Op 

module should both have a blue LED that lights up, indicating they 

have power. You should also notice a green flashing LED on the Tele-

Op module, indicating that the Bluetooth dongle is compatible. If 

you do not see a green flashing light, then no Bluetooth dongle is 

connected or the dongle is not compatible with the Tele-Op module. 

Refer to the Tele-Op technical guide for more information on Bluetooth 

compatibility.

5.  To pair the PS4 controller with the Bluetooth dongle, the controller 

must be put into discovery mode. On the PS4 controller, hold down the 

Share and the Power buttons at the same time for about five seconds 

until you see the controller's light bar flash white in a rapid pattern. The 

controller is now in discovery mode.

6.  Press the black button on the Tele-Op module. The green LED on the 

Tele-Op module should remain on and stop flashing. Also, the light bar 

on the game controller should be a solid green color to indicate the 

controller is paired and ready to be used to control the Tele-Op module.

7.  After the PS4 controller has been paired with the Bluetooth dongle in 

the Tele-Op module, you don’t need to go through this process again 

unless you want to pair a different device or Bluetooth dongle. Simply 

turn on PRIZM and the Tele-Op module and then press the Power 

button on the PS4 controller. The controller will automatically connect 

to the Bluetooth dongle in the Tele-Op module.

Note: When you connect the PS4 
controller to the Tele-Op module, 
the game controller pairs with the 
Bluetooth dongle that is inserted 
into the Tele-Op module’s USB 
port. If you remove the dongle 
from one Tele-Op module and 
plug it into another, the game 
controller can now be used 
to control the second Tele-Op 
module.

Note: When you turn off power 
to PRIZM and the Tele-Op 
module, the PS4 controller will 
automatically turn off after about 
10 seconds.

2

      TETRIX Tele-Op Control Module Activity 2

Summary of Contents for Tele-Op

Page 1: ...ds to the motor port for that motor Motor 1 to Encoder Port 1 Motor 2 to Encoder Port 2 5 Make sure that the Ultrasonic Sensor on the TaskBot is connected to Port D2 on PRIZM 6 Make sure that the Line...

Page 2: ...lash white in a rapid pattern The controller is now in discovery mode 6 Press the black button on the Tele Op module The green LED on the Tele Op module should remain on and stop flashing Also the lig...

Page 3: ...ports and encoder ports that each TorqueNADO is plugged into turn your TaskBot back on and restart the program You should find that the farther you push the joysticks up the faster the TaskBot will mo...

Page 4: ...ine up with the line so that it faces the same direction that the line goes Hold down the L2 and R2 buttons at the same time to enter line following mode You should see the TaskBot start following the...

Page 5: ...rmal 35 modes There are also four integer variables one for storing the x value from the touch pad one for storing the distance measured by the Ultrasonic Sensor to operate the PS4 controller s rumble...

Page 6: ...mmand also returns a unique byte value based on which buttons from Group 2 are pressed Group 2 includes the Up Down Left Right L3 R3 Share and Options buttons The first while loop will continuously ca...

Page 7: ...egrees The next three lines of the main loop provide this functionality The first if statement turns the TaskBot left and the second if statement turns the TaskBot right The command ps4 Button BUTTON...

Page 8: ...commands is executed the else part Since the user does not want crawl mode or turbo mode then the only other option is normal mode The powerMultiplier is set to the medSpeed variable 0 35 or 35 and t...

Page 9: ...e PS4 controller s LED is set to blue to indicate the TaskBot is in line following mode The two if statements read the Line Finder Sensor and cause the TaskBot to turn one way if the sensor detects da...

Page 10: ...the TaskBot moves the opposite direction of the controller tilt but because of the backward motion the TaskBot ends up facing the direction of the tilt Controller Tilt Pitch Roll Motor 1 P R Motor 2 P...

Page 11: ...des an if statement to determine if the value of the touch pad has changed If the user is using the touch pad to adjust the motor speed then the touchPadControl function is called to adjust the crawl...

Page 12: ...back on the line the user should be able to press a button on the PS4 controller to have the TaskBot start autonomously following the line again The table here shows the direction pad buttons the uni...

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