Pendant controls
This is the control map of the v5 teach pendant on a Steam Deck, as the app implements it. Press Menu on the pendant to see the same guide on screen. For how to use them, see Program from the Steam Deck pendant.
Warning
Energised motion. This moves the robot. RosieOS has no software E-stop: keep the hardware E-stop within reach and clear the cell before you arm. Jog, moves and Home are checked against joint limits only, not against collisions. See the safety model.
The v5 pendant is not qualified for real motion, and its stick, trigger and rear-button handling has not been qualified on hardware. R2 is a software deadman, not a safety-rated enabling device.
Jog#
Jogging works on the JOG page only, with a cell connected, and only while R2 is held.
| Input | Action |
|---|---|
| R2 | Hold to enable jog. Release stops. |
| R2 + left stick ▲▼ | Joints: jog the selected joint. Up is the positive direction. |
| R2 + left stick | Cartesian: move X and Y. Up is X+, left is Y+. |
| R2 + right stick ▲▼ | Cartesian: move Z |
| R2 + right stick ◀▶ | Cartesian: turn about Z |
| L2 + R2 + left stick | Cartesian: tilt about X and Y |
| D-pad ▲▼ | Select the joint |
| D-pad ◀▶ | Jog speed: 5, 10, 25, 50, 75 or 100 % |
| L3 | Switch between Joints and Cartesian |
Rules the app enforces:
- One axis at a time. Cartesian jog moves only the axis with the largest stick deflection.
- Commit threshold. A stick direction counts once it is past 0.35 of full travel. The sticks have a 12 % dead zone. R2 and L2 count as held past a quarter of their travel.
- Neutral first. After a page change, a Joints or Cartesian switch, a new direction, loss of window focus (for example the Steam overlay), or a lost controller, the hold ends. No new jog starts until the controls have returned to neutral.
- Step mode. With STEP chosen on the Cartesian panel, each push makes one bounded move of the linear or angular step size. Centre the stick before the next.
- Lost controller. The pendant reports
Controller disconnected; jogging stoppedand looks for the pad again every second.
Teach, arm and stop#
| Input | Action |
|---|---|
| A or L4 | Record a waypoint at the measured pose. In a dialog: OK. |
| X or L5 | Reteach the selected waypoint |
| Y or R4 | Record a via pose for the selected waypoint |
| R2 + A | Arm or disarm. A real machine asks for a second press: CONFIRM ARM · A. |
| B or R5 | Stop the robot, from every page and dialog. B also cancels the open dialog. |
| Esc, header ■ STOP | Stop the robot |
Stop also disarms. It is a software stop, not the hardware E-stop.
Navigate#
| Input | Action |
|---|---|
| L1 / R1 | Previous / next page |
| View | CELL page |
| Menu | Open the controls guide. A closes it; B stops and closes it. |
| D-pad ▲▼ | Joint on JOG, row on PROGRAM |
| Right stick, without R2 | Orbit the 3D view. With L2: zoom. |
| R3 | Reset the 3D view |
| Right trackpad | Pointer and click |
| Left trackpad | Scroll |
| Steam + X | On-screen keyboard, for text fields |
The RUN, TELEMETRY and CELL pages are touch pages. In the 3D view: drag orbits, pinch zooms, two fingers pan and a double tap resets the view; the +, − and FIT buttons zoom by touch.
Keyboard#
The rear buttons arrive as function keys through the Steam Input layout. A keyboard gives the same keys:
| Key | Action |
|---|---|
| F1 | Record a waypoint |
| F2 | Reteach |
| F3 | Record a via pose |
| F4, Esc | Stop |
Steam Input layout#
steamdeck/real/v5/controller.vdf is the pendant's Steam Input layout, titled "Rosie Pendant v5". Install it as the layout of the pendant's Steam shortcut. See Build and install the pendant.
| Deck control | Sends |
|---|---|
| A, B, X, Y | Gamepad A, B, X, Y |
| L1, R1 | Left and right shoulder |
| View, Menu | Gamepad select and start |
| L2, R2 | Analogue triggers |
| Left and right sticks | Joysticks, with their clicks as L3 and R3 |
| D-pad | D-pad |
| L4 (upper left rear) | F1 |
| L5 (lower left rear) | F2 |
| R4 (upper right rear) | F3 |
| R5 (lower right rear) | F4 |
| Right trackpad | Absolute mouse, click on press |
| Left trackpad | Scroll wheel |
The Steam and Quick Access buttons stay system controls.