Autonomous Typing

[bwestley]

Why Is This Enhancement Needed?

A component is required to configure and run the autonomous typing routine as described in the URC rules for the Equipment Servicing Mission.

Proposed Solution

1. Derive the position of keys relative to the rover's manipulator (e.g., using a camera mounted on the manipulator and an overlay displayed over the video). The rover may be manually moved to complete this alignment as long as it does not touch the keyboard.
2. Accept the "launch key" string from a text box.
3. After a single button press, switch the rover indicator panel to autonomous (red) and actuate the keyboard keys to type the "launch key".
4. If required, another button will stop the routine and switch the rover indicator panel to tele-op (blue).

Develop and test with Talos and our equipment servicing panel mockup. Test all reasonable keyboard relative orientations: the terrain in front of the equipment servicing panel may not be level. Collaborate with the teams responsible for the arm to ensure this mission is achievable. Continue testing with the new rover when it becomes available.

Additional Context

URC 2026 Rules 1.e.ii

Autonomous Typing: Team operators will be given a 3-6 letter launch key prior to the start of the mission which they may program into the rover prior to the start of this task. The rover must autonomously input this launch key on a keyboard. Typing must be correct for full points, but spelling mistakes or repeated letters may be corrected using the backspace/delete button or ignored for partial points. The protocol for entering/exiting autonomous mode will be similar to the Autonomous Navigation Mission (see Section 1.f). The rover may have multiple attempts at entering the launch key, but operator intervention is allowed only to exit autonomous mode and abort or restart the attempt on this task from the beginning. The keyboard will be vertically mounted and specifically is this keyboard. ArUco fiducial markers 2 x 2 cm will be placed by the corners of the keyboard to help aid with alignment. Final marker location is not yet guaranteed.