>Sojourner operation was supported by "Rover Control Software" (RCS) that ran on a Silicon Graphics Onyx2 computer on Earth and allowed command sequences to be generated using a graphical interface. >The rover driver would wear 3D goggles supplied with imagery from the base station and would move a virtual model with a specialized joystick. The control software allowed the rover and surrounding terrain to be viewed from any angle, supporting the study of terrain features, the placing of waypoints, and virtual flyovers. Darts were used as icons to show where the rover should go. Desired locations were added to a sequence and sent to the rover to perform.>Typically, a long sequence of commands were composed and sent once a day. The rover drivers were Brian K. Cooper and Jack Morrison.
