Custom Remote Bridge Codelet?

I’m creating my own Remote Bridge Codelet that creates an HTTP endpoint and listens for remote control commands i.e. forward, reverse, stop …

My question is the following: should the command (i.e. forward) be sent to a Joystick component? a Gamepad? Robot remote control? or directly to the motor driver to control the motors?

That depends on your graph, I suppose. I would think keeping an abstraction layer above direct trajectories/motor control commands would be helpful where gamepad commands and autonomous commands from on-robot behavior trees for example appear the same at some point.

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