In this mode, the robot will respond to commands from a handheld IR remote control.  In addition to rotations and straight lines, you can tell the robot to find a wall and follow it.  You can also test some dead-reckoning maneuvers.

The optional Garcia IR Remote (Old and New).  The older version (R200-10152) is discontinued and replaced with a newer version (R278-IR-REMOTE).

You can enter IR remote control mode mode at any time while the robot is roaming by pressing a key on the remote control.  The robot will stop and wait for IR commands.  The robot will automatically switch back to roaming mode if it is idle and does not receive any IR commands for 30 seconds.

The buttons on the remote control unit are labeled with icons on the older (discontinued) version and numbers on the newer version.  Here is a table of each remote's buttons and the behaviors associated with them:

Hug a Wall

The wall-hug operation is a combination of several primitives.  The first is a straight motion that stops when the robot detects something in front of it.  Then the robot performs an align motion so it is at a known distance and orientation to the wall.  It goes slowly during this step so it can take better sensor readings.  Then the robot performs another straight motion followed by a turn to get parallel to the wall.  Once the robot is lined up with the wall, it starts to hug it.  It will stop when its front sensors detect something.

Maneuver your robot so it is facing a wall.  The angle isn't critical.  Then push one of the buttons to make the robot seek a wall to hug.  Watch how the robot performs the motions listed above.  Try starting at different distances from a wall and at different angles to the wall.

Make a Square

This test works best on a tile or linoleum floor with regularly spaced patterns.  Line up the robot with a point on the floor and press the button to make the robot trace a 3x3 foot square.  The robot should follow a square path and stop close to the starting point.