# S4 Features and Artificial Intelligence for Designing a Robot against COVID-19--[PERSON]
## 5 Interface and Control Platform  
The central Robocov processor is a Raspberry pi 4, which gets control signals through a local wi-fi connection. Different actuators can be controlled, and sensors can be read depending on the connected module. Both actuators and sensors are connected to the Raspberry by a PCB, and it has the necessary circuits to connect digitally with power elements. This interaction is done by the General Purpose Input Output-(GPIO) ports.  
The user can control the robot using an Xbox one controller connected to the main computer. With both triggers and joysticks, it is possible to move Robocov and indicate the movement of both motors. With the buttons \"A\", \"B\" and \"Y\", speed mode can be changed between low, medium, and high speed. With the buttons above the triggers, modules UV and sanitizing liquid can be activated and deactivated. This configuration allows the user to have complete control of Robocov without the need for the operator to release the Xbox controller. The controller commands are illustrated in Figure 20.  
The Robocov interface is shown on the main computer. This is designed to show all the necessary information in a single window. It has eight parts: (i) Controls, which indicate every button function. (ii) Phrases, where a signal can be sent to the robot to reproduce a  
Figure 19: Cargo system.  
Figure 20: Robocov controller mapping in the layout of an Xbox controller.  
specific audio file. (iii) Line follower can activate, pause, or stop the line following mode. (iv) Camera, it shows the image received from the robot as well as being able to activate or deactivate the computer's microphone and speakers. (v) Connection status shows the connection status with Robocov if it is connected, with low signal, or disconnected. (vi) Speed mode shows which of the three levels is activated, low, medium, or high speed. (vii) Sensors allow the user to see the detected distance to the nearest object from each sensor, and (viii) the module's part, which deploys different information depending on the connected module. A screenshot of the operator's computer is shown in Figure 21.  
All the information presented on the interface allows the user/operator to know what happens in the robot's surroundings. The operator can control and take assertive decisions to correct the robot's use with all these indicators. Since all the information is presented in one window, the operator does not need to change anything to have all the sensor's feedback.  
Each user interface component helps the user in different ways; the control indicator shows the user/operator the mapping of every button in the controller. The phrase section lets the operator give specific instructions to subjects near the robot, such as asking them to take their temperature or telling them to use their masks. The line follower mode allows Robocov to do sanitizing tasks by itself. At the same time, the operator can still see the image received from the camera and see the sensor's status. With this information, the operator can pause or stop the robot.  
As mentioned before, the module's interface changes depending on which one is connected. The interface will show the lamp status. In case the sanitizing liquid module is connected, it will show the liquid level and if it is activated or not. This helps the operator know the status and deceive action on what to do. If the monitoring module is connected, the interface will show a temperature indicator and a label with card ID information if scanned.  
The programming also has security algorithms that help control the robot, such as stopping if the connection is lost. This allows the operator to have confidence in moving the robot and not worry about connection problems. The same happens when any sensors detect something closer than 20 cm, blocking one or two motors depending on which detected an object. Figure 22 illustrates the use case of the robot being operated by an operator.  
Figure 21: Robocov interface on the main computer.