Machine Control Interface
Once you have configured components and services for your machine, you can test, monitor, and remotely operate them from the CONTROL tab in the Viam app or the Viam mobile app.
Control interface in the Viam app
The CONTROL tab in the Viam app gives you the ability to test, monitor, and operate the machines in your fleet. The CONTROL tab provides a control interface for each component and service that you have configured for you machine.
For example, if you have configured a base with wheels, you can move your machine’s with an arrow pad and control the base’s speed by setting its power with a slider. If you have configured a camera component, a window in the CONTROL tab displays the camera output.
If you use remote control in the Viam app UI, all communication to the machine uses WebRTC. For local communication between parts Viam uses gRPC or WebRTC.
You can also switch between different machine parts directly from the CONTROL tab and control the selected machine part.
For more information on configuring and controlling machine parts, see Machine Architecture.
Components
For more detailed information on how to operate and test your resources, expand the relevant resource below:
Arm
Test the arm
Once your arm is configured and connected, open the arm’s TEST panel on the CONFIGURE or CONTROL tabs.
Use the buttons to move the end position or the joints and check whether it moves as expected.
If the arm does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.
Base
After you configure the base, open the base’s TEST panel on the CONFIGURE or CONTROL tabs to view the controls to enable keyboard or discrete control over your machine’s movement.
In the Quick move section, you can toggle the keyboard control to active. With the Keyboard toggle active, use W and S to go forward and back, and A and D to arc and spin.
Try driving your base around using the WASD keyboard controls.
Caution
Ensure that your robot has sufficient space to drive around without hitting anyone or anything.
You can also move straight, spin, set power or set velocity from the base panel.
If you do not see the base card in the TEST panel, check the LOGS tab for possible setup or configuration errors.
Board
Test analogs
Once you have configured your analogs, open the board’s TEST panel on the CONFIGURE or CONTROL tabs to monitor analogs. The numbers displayed next to each analog name represent the digital signal received from the analog inputs.
Test digital_interrupts
Once you have configured your digital interrupts, open the board’s TEST panel on the CONFIGURE or CONTROL tabs to monitor interrupt activity. The value displayed next to each interrupt name represents the total count of interrupts triggered by the corresponding digital interrupt.
Encoder
Test the encoder
Once your encoder is configured and connected, open the encoders’s TEST panel on the CONFIGURE or CONTROL tabs. The ticks count is displayed. Try moving the encoder (for example, by turning a motor it is attached to) and check whether the count increases as expected.
If the encoder does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.
Gantry
Test the gantry
Once your gantry is configured and connected, open the gantry’s TEST panel on the CONFIGURE or CONTROL tabs.
Use the panel to adjust the position of the actuator on the axis and check whether it moves as expected.
If the gantry does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.
Generic component
Test the generic component
After you configure your generic component, open the generic’s TEST panel on the CONFIGURE or CONTROL tabs.
Use the card to send arbitrary commands to the resource with DoCommand().
Motor
Once your motor is configured and connected, open the motor’s TEST panel on the CONFIGURE or CONTROL tabs. Use the buttons to try turning your motor forwards or backwards at different power levels and check whether it moves as expected.
If the motor does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.
Services
The following services also provide control interfaces:
- SLAM: for creating a new SLAM map and for using the motion service to move a machine on a SLAM map
- Navigation: for moving a machine to waypoints on a map
Control interface in the Viam mobile app
In addition to the Viam app, the fully featured web application where you can access all fleet management tools, there is a Viam mobile app.
The Viam mobile app allows you to test, monitor and remotely operate machines in your fleet. It provides a control interface for each component and service that you have configured for you machine.
For example, you can view live camera feeds, adjust components’ runtime parameters, and switch between controllable components.
Additionally, the app allows you to:
- see if your machines are online
- view a machine’s logs
- upload images from your phone to the cloud
- invite people to collaborate with you and modify access
You can find the mobile app on the App Store and on Google Play.
Have questions, or want to meet other people working on robots? Join our Community Discord.
If you notice any issues with the documentation, feel free to file an issue or edit this file.
Was this page helpful?
Glad to hear it! If you have any other feedback please let us know:
We're sorry about that. To help us improve, please tell us what we can do better:
Thank you!