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.. _rvr_move:

Lesson 3: Remote Control Your GalaxyRVR
============================================

Get ready to take the controls! In this lesson, you'll become the mission commander of your very own GalaxyRVR Mars Rover.

We'll transform our coding knowledge into real-world action, programming your rover to navigate across simulated Martian terrain. Watch as your commands bring the rover to life, moving exactly as you direct it right here in the classroom.

This is where your Mars mission truly begins – let's start driving!

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   </video>

Learning Objectives
-----------------------

* Set up communication between the Mammoth Coding APP and your GalaxyRVR by uploading the necessary Arduino code
* Master controlling your rover's movements using the arrow key interface in the APP
* Program and execute the four fundamental rover maneuvers: forward, backward, left turn, and right turn

.. _app_connect:

Connecting the APP to GalaxyRVR
-------------------------------------------

.. note::

    * The GalaxyRVR’s R3 board comes with firmware that supports the RoboPilot App and Mammoth Coding.
    * If you have overwritten the firmware and need to restore communication, follow :ref:`update_r3_firmware`.

#. Before using the GalaxyRVR for the first time, fully charge the battery with the supplied Type-C USB cable. After charging, turn the power on.
    
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#. To start the ESP32 CAM, switch the mode to **Run** and press the **Reset** button on the R3 board. The bottom light strip will begin flashing to indicate a successful startup.

   .. note::

      * If the bottom light strip shows a **flashing light of any color other than green**, your GalaxyRVR needs a firmware update. Please refer to :ref:`update_firmware`.

   .. raw:: html

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#. Connect your mobile device to the GalaxyRVR's WiFi network.

   * The network name (SSID) is ``GalaxyRVR`` and the password is ``12345678``.  
   * If you see a warning stating "No Internet access," please choose the option to **"Stay connected."**

     .. image:: ../img/camera_lan.png
        :width: 500

#. Open the application on your mobile device to begin the connection process.

   .. image:: img/connet_app_04.png

#. Select and load the GalaxyRVR extension within the APP.

   .. image:: img/connet_app_05.png

#. The APP will automatically scan and search for available GalaxyRVR devices.

   .. image:: img/connet_app_06.png

#. Select your GalaxyRVR from the list to connect.

   .. image:: img/reconnect_2.png

   .. note:: 
      
      Connection status is indicated by the GalaxyRVR's LED lights:
      
      - **Flashing yellow**: Searching for connection
      - **Steady blue**: Successfully connected and ready

Re-connect APP
-------------------------------------

When your device is disconnected from GalaxyRVR, you will see this pop-up window appear in the interface. Click reconnect.

   .. image:: img/reconnect_0.png

If you close the pop-up window, you can also reconnect by clicking this button in the GalaxyRVR category.

   .. image:: img/reconnect_1.png

Find your GalaxyRVR and click connect.

   .. image:: img/reconnect_2.png


Controlling the GalaxyRVR with the APP
-----------------------------------------

1. In the coding interface, find the dedicated GalaxyRVR category containing all the rover control blocks.

   .. image:: img/3_rvr_catego.png

2. While we typically use the green flag to start programs, there are other ways to trigger actions. Find the ``when up arrow key pressed`` block in the Events category - this will execute code whenever you press that specific key.


   .. image:: img/3_rvr_when_arrow.png

3. Create four event blocks - one for each arrow direction (up, down, left, right). This will form the foundation of your rover's control system.

   .. image:: img/3_rvr_4_arrow.png
        :width: 800
        :align: center

   .. note:: Need more coding space? Click the eye icon below the green flag to temporarily hide the stage area.

4. Now complete each event block with the corresponding movement command:
   
   - Up arrow → Move forward
   - Down arrow → Move backward  
   - Left arrow → Turn left
   - Right arrow → Turn right

   .. image:: img/3_rvr_4_dir.png
        :width: 800
        :align: center

5. Click the stage expansion button to enter the full control mode.

   .. image:: img/3_rvr_stage.png

6. You'll now see an enlarged stage with virtual direction keys. Press these keys and watch as you directly control your GalaxyRVR's movements in real-time!

   .. image:: img/3_rvr_stage2.png


Movement Control Blocks
-----------------------------

* **Basic Direction Control**
  
  Controls the GalaxyRVR's movement direction. Use the dropdown menu to select forward, backward, left turn, or right turn.

  .. image:: img/block/move_forward.png 

* **Speed Setting**
  
  Sets the GalaxyRVR's movement speed. Note: This block only sets the speed and does not initiate movement by itself.

  .. image:: img/block/move_set_speed.png     

* **Timed Movement**
  
  Makes the GalaxyRVR move in the selected direction for a specific duration. You can:
    
  * Choose direction (forward/backward/left/right) from the dropdown
  * Set movement duration by changing the time value

  .. image:: img/block/move_forward_1s.png 

* **Speed-Controlled Movement**
  
  Moves the GalaxyRVR at a specific speed percentage. You can:
    
  * Select movement direction from the dropdown
  * Adjust speed percentage (0-100%)

  .. image:: img/block/move_forward_80.png    

* **Precise Movement Control**
  
  Combines speed and time control for precise movements. You can:
    
  * Set movement direction
  * Adjust speed percentage
  * Set movement duration

  .. image:: img/block/move_forward_80_1s.png 

* **Advanced Wheel Control**
  
  Provides independent control over each wheel for complex maneuvers. You can:
    
  * Set left wheel speed separately
  * Set right wheel speed separately  
  * Control movement duration

  .. image:: img/block/move_lr_sp_1s.png 

* **Emergency Stop**
  
  Immediately stops all GalaxyRVR movement.

  .. image:: img/block/move_stop.png