> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/simulation/manual-driving-and-input-simulation.md).

# Manual Driving and Input Simulation

Manual control is the first mobility mode to validate because it establishes the command, controller, odometry, timeout, and stop chain used by later autonomy.

{% stepper %}
{% step %}

### Start the smoke world

Launch the headless or desktop reference world with simulated time, the wheelchair model, controllers, sensors, diagnostics, and safety supervisor.
{% endstep %}

{% step %}

### Confirm the no-motion state

Before sending commands, verify controllers are active, command output is zero, emergency stop is released only by the defined procedure, and no previous command is replayed.
{% endstep %}

{% step %}

### Exercise each direction

Command low-speed forward, reverse, left turn, right turn, and stop. Compare command, wheel state, odometry, and safety output.
{% endstep %}

{% step %}

### Test command loss and takeover

Stop the input publisher and confirm the timeout commands zero. During an autonomous goal, assert manual takeover and confirm navigation authority is cancelled.
{% endstep %}
{% endstepper %}

## Input arbitration checks

* Only one source owns motion authority at a time.
* Emergency stop overrides every source.
* Manual takeover has a bounded, logged response.
* Voice or caregiver commands request motion through the same safety gate; they do not bypass it.
* Loss of a remote or networked input returns to a locally safe state.
* Input source, mode, decision, and rejection reason are observable.


---

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