# COBOTTA Control

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---

```{toctree}
:maxdepth: 2
:caption: Contents:

api/modules
tutorials/index
man/function
man/camera
man/joypad
man/tips
man/history
```

## COBOTTA Control Classes (v0.10.3)

The COBOTTA control architecture is organized around four main classes and two interface classes.

- `cobotta_bcap.py`: low-level COBOTTA control through b-CAP.
- `cobotta_orin2.py`: COBOTTA control through ORiN2.
- `cobotta_ctrl.py`: COBOTTA control interface.
- `cobotta_ctrl_joypad.py`: joystick control and COBOTTA control through `cobotta_bcap`.

### b-CAP control

`cobotta_bcap.py` → `cobotta_ctrl_joypad.py`

### ORiN2 control

`cobotta_orin2.py` → `cobotta_ctrl.py`

The b-CAP and ORiN2 implementations are intended to be largely interchangeable for basic operations. ORiN2, however, uses Windows COM, whose objects have thread-affinity and lifetime-management constraints. When integrating ORiN2 into a server framework such as gRPC, calls must be dispatched through an appropriate COM-owning thread. Python bindings require particular care to release COM references and relinquish robot control correctly.

### `pad`: joystick support

`input_grpc_client.py`, `input_grpc_server.py`, `input_joypad_local.py`, `joypad_core.py`, `joypad_mover.py`, `joypad_runtime.py`.

### `server_fastapi`: communication through [ese774](https://ohara-lab-su.github.io/ese774_frame/)

The `clients`, `models`, and `routers` directories provide client implementations, Pydantic interface models, and server routers. `spec_ctrl.py` defines the control interface. Server launch scripts include `joypad_grpc_server.py` and `orin2_grpc_server.py`.

### `server_grpc`: communication through [grpc_frame](https://ohara-lab-su.github.io/grpc_frame/)

Clients include `bcap_grpc_async_client.py`, `joypad_grpc_client.py`, and `orin2_grpc_client.py`. The `make_bcap_pyi.py`, `make_joypad_pyi.py`, and `make_orin2_pyi.py` scripts generate `.pyi` stubs to support editor completion when dynamic dispatch would otherwise obscure method signatures.

## Control examples and tests

The [tests directory](https://github.com/ohara-lab-su/cobotta2/tree/main/tests) contains examples covering direct control, FastAPI/ese774, gRPC, and local operation.

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## Author
- Kengo NAKADA