4.4 Controller Usage

You can manually control AntBot using a PS5 DualSense controller.

No.	Name	Action	Notes
1	L2	In-place rotation left	Stationary only, trigger
2	L1	Headlight ON / OFF	Toggle
3	Left Stick	Y-axis: Forward/Reverse, X-axis: Curve driving	Max 1.0 m/s
4	R2	In-place rotation right	Stationary only, trigger
5	R1	Wiper ON / OFF	Toggle
6	Triangle	Speed level UP	1~9 levels
7	Circle	Cargo Unlock
8	Cross	Speed level DOWN	1~9 levels
9	Square	Cargo Lock

Connection Method

1. Connect the DualSense controller to USB 1 (Blue) via a wired connection.

2. If AntBot is running, the controller will be automatically recognized. (Takes approximately 2-3 seconds)

   Tip

   For how to run AntBot, see Software Environment Setup - Running.

3. When the controller LED lights up, it is ready to use.

Speed Levels

Speed levels can be adjusted from 1 to 9, with a default of 3.

Level	Max Linear Velocity	Max Angular Velocity
1	0.11 m/s	0.11 rad/s
3 (Default)	0.33 m/s	0.33 rad/s
5	0.56 m/s	0.56 rad/s
9 (Max)	1.0 m/s	1.0 rad/s

Keyboard Teleoperation

If a controller is not available, you can also control the robot via keyboard after SSH connection.

ros2 run antbot_teleop teleop_keyboard

Key	Action
W / X	Forward / Reverse
A / D	Left / Right movement
Q / E	Counter-clockwise / Clockwise rotation
1 ~ 9	Speed level
ESC	Exit