Creating your custom controller(s)

• You may implement additional what we call "tasks" for your controller. A task may range from controlling one hand to controlling all the joints. The definition is somewhat expansive, but it allows you to control any subset of the robot.
• To implement a controller:

$ cd <scl_base_dir>/applications_linux
$ sh create_new_ctrl.sh <your-name-all-small-letters> <your-controller-name>

• This will:
  1. Stash all your current code changes (you can un-stash them later by typing 'git stash pop')
  2. Create a new git branch for your controller
  3. Create a folder named 'scl_your_name_ctrl', and copy over the example controller there
  4. Rename all the files etc. from example to your controller name
  5. Compile your new controller
• Once all that is done, your controller will be a copy of the example controller, with a few TODOs. You can fill in the TODOs according to your controller implementation.

Applying your custom controller to a robot

• Please look at the Puma config file in your new controller folder. You will see your control task already added to the list.
• You may create similar config files for any robot. Just copy paste the config file from '<scl_base_dir>/specs/<robot-name>/' into your directory and edit it.

$ cd scl_manips_group.git/applications_linux/scl_samir_ctrl
$ cp ../../specs/Pr2/Pr2Cfg.xml ./Pr2CfgSamirMod.xml
$ gedit ./Pr2CfgSamirMod.xml &

• The controllers are specified with xml that is human readable so go ahead and change what you want! :-)