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195 | Alpin | 1 | /* ============================================================================ |
2 | * v0.1 |
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3 | * |
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4 | * *****MoteCtrl***** |
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5 | * written by AndreasB (aka Alpin) |
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6 | * |
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7 | * lets you control your MikroKopter with a Wiimote! |
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8 | * |
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9 | * |
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10 | * Copyright December 2008 |
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11 | * |
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12 | * #Credits & Thx: |
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13 | * - Holger & Ingo for the MikroKopter Project (www.mikrokopter.de) |
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14 | * - ExternalControl implementation of the FlightControl |
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15 | * - Ligi for RIDDIM, proof of external control concept |
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16 | * - Documentation of the MK's SerialProtocol (www.mikrokopter.de/ucwiki/en/SerialProtocol) |
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17 | * - Michael Laforest for the wiiuse API |
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18 | * |
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19 | * #WEBSITE: http://www.mikrokopter.de/ucwiki/en/MoteCtrl |
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20 | * |
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21 | * *****Use at your own risk! No warranty. Only for private usage.***** |
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22 | * |
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23 | * #LICENSE: Released under the GNU General Public License Version 2 or |
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24 | * (at your option) a later version of this license. |
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25 | * |
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26 | * This program is distributed in the hope that it will be useful, |
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27 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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28 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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29 | * GNU General Public License for more details. |
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30 | * For further details see <www.gnu.org/licenses/>. |
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31 | * |
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32 | * #DISCLAIMER: Use this project at your own risk! |
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33 | * No warrenty. |
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34 | * Only for private usage. |
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35 | * |
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36 | * ============================================================================ |
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37 | */ |
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38 | |||
39 | ***** Table of Contents ***** |
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40 | |||
41 | 1. Description |
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42 | 2. What you need |
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43 | 3. Short checklist |
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44 | 4. Controls |
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45 | 5. Usage of MoteCtrl - Step by Step |
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46 | 6. Useful Tips & Practical Experiences |
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47 | |||
48 | |||
49 | |||
50 | == 1. Description ============================================================== |
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51 | |||
52 | MoteCtrl is a small terminal-based programm, which acts as an |
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53 | interface to the Wiimote and the MikroKopter platform. |
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54 | The MikroKopter is usually controlled by a normal 35MHz remote control. |
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55 | However, the FlightControl software also allows you to control your MikroKopter |
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56 | with a so called ExternControl struct, which is send via the serial |
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57 | communications line. |
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58 | MoteCtrl.exe, running on your windows pc, exactly does this. It captures the |
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59 | Wiimote's and Nunchuck's (extension to the wiimote) data and transfers it to the |
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60 | FlightCtrl. |
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61 | |||
62 | |||
63 | == 2. What you need ============================================================ |
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64 | |||
65 | - MikroKopter with at least FlightCtrl firmware version 0.71h running |
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66 | - wireless serial communication to the FilghtCtrl via Bluetooth |
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67 | (I use the F2M03GXA Bluetooth modul, with the wireless UART service activated, |
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68 | see <http://www.mikrokopter.de/ucwiki/F2M03GXA> for more information) |
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69 | - Wiimote with Nunchuck extension |
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70 | - Laptop running windows xp |
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71 | - Bluetooth-dongle or build-in bluetooth communications in your laptop |
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72 | - Since I use the wiiuse lib v0.12 to connect to the Wiimote, your bluetooth |
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73 | stack should be compatible with the wiiuse lib |
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74 | On their page wiiuse.org they say, they successfully tested wiiuse with |
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75 | BlueSoleil, Windows XP SP2 stack and Widcomm |
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76 | (my BT-dongle uses the BlueSoleil stack and it works fine) |
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77 | - Backup Pilot at the 35MHz Remote Control (see =Usage=) |
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78 | - MoteCtrl.exe along with the wiiuse.dll file (both in one folder) |
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79 | |||
80 | |||
81 | == 3. Short Checklist =========================================================== |
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82 | (for more detailed step by step instructions, see =Usage of MoteCtrl=) |
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83 | |||
84 | -MK ready?, ExternalControl switch assigned?, Backup pilot ready? |
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85 | -Nunchuck plugged in to Wiimote? (software check does not work yet, seems to be |
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86 | a bug in the wiiuse API) |
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87 | -BT connections to Wiimote (HID service running) and MikroKopter (Serial Port |
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88 | Service running) established? |
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89 | |||
90 | |||
91 | == 4. Controls ================================================================ |
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92 | |||
93 | GAS: Controlled by the two buttons on the Nunchuck extension ('c' and 'z'). |
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94 | Press 'c' = Increment(++) gas value by 1 |
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95 | Press 'z' = Decrement(--) gas value by 1 |
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96 | |||
97 | YAW(GIER): Controlled by the Nunchuck's joystick. |
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98 | Pressed to the right half = yaw to the right |
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99 | Pressed to the left half = yaw to the left |
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100 | The more you push the joystick to one of the two directions, the |
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101 | MK yaws faster. |
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102 | |||
103 | NICK(PITCH): Controlled by the Wiimote's pitch-tilt. |
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104 | Tilting your Wiimote to the left means, tilting the Quadro left. |
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105 | To the right accordingly. |
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106 | |||
107 | ROLL: Controlled by the Wiimote's roll-tilt. |
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108 | Same like with pitch. |
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109 | |||
110 | SPECIAL: You can reset the GAS value immediatly to ZERO (==no gas!!) with the |
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111 | HOME-Button. Be carefull with that! |
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112 | |||
113 | |||
114 | == 5. Usage of MoteCtrl - Step by Step ========================================= |
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115 | |||
116 | Preparations: |
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117 | 1. Make sure your all the items listed under "What you need" work |
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118 | |||
119 | 2. To allow external control you have to allocate a switch of your normal |
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120 | 35MHz RemoteCtrl to the "External Control" variable in the MikroKopter-Tool. |
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121 | You should find this option in the MK Tool -> Configuration/Settings |
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122 | Explanation: |
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123 | Your normal Remote Control is always used as a backup device, in case the |
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124 | operator at the Wiimote looses control of the Quadrokopter or the Bluetooth |
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125 | connection is somehow interruted. Therefore the backup pilot at the 35MHz |
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126 | control can pass the control to the pilot with the Wiimote via his "external |
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127 | control" switch. If he feels that the Quadro is out of control or the |
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128 | connection is interrupted he just flips the switch back, gets control himself |
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129 | again and can rescue the poor -out of control- MikroKopter ;) |
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130 | |||
131 | Flight: |
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132 | 1. Turn your MikroKopter and your normal remote on. Make sure everything is |
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133 | running perfectly (perhaps do a "normal" test flight to check everything's ok) |
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134 | 2. Establish the wireless UART connection to your Mikrokopter with your |
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135 | Bluetooth stack. The BT stack should assign a windows COM Port to the |
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136 | established connection, so you can access it (make sure Serial Port Service |
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137 | is running). You need to remember the NUMBER OF THE COM PORT, e.g COM4. |
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138 | So you established the link to your MK. |
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139 | 3. Next establish the connection to the Wiimote: |
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140 | - Press both, the 1 and 2 Button at the same time. All the 4 LEDs should be |
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141 | blinking now. Your wiimote is now in "discovery mode", which means it is |
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142 | searching for a little Nintendo Wii to pair with it. |
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143 | - Now we are (or our BT stack is) the Wii: While the wiimote is in discovery |
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144 | mode search for devices in your BT stack program. You should find the wiimote |
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145 | now. Do NOT pair with it. Rather search for services the wiimote offers. |
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146 | This should bring up the HID (Human Interface Device) service offer. |
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147 | Check that the wiimote is still in discovery mode (only 30 seks active) and |
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148 | activate the HID service. You should now be connected with the wiimote and |
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149 | the 4 leds of the wiimote should still blink but shouldn't stop blinking |
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150 | anymore. |
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151 | 4. So the BT stack is now connected to both, the Wiimote and the MK (BT can |
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152 | connect up to 7 devices at a time). Now start the MoteCtrl.exe via a |
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153 | windows commandline. Make sure you put the wiiuse.dll in the same folder |
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154 | like MoteCtrl.exe, otherwise the program will return immediatly without |
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155 | an error message (and you think huh?). |
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156 | 5. Next you should be asked for your COM Port number, which is linked to your MK. |
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157 | Type in the number, hit enter. |
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158 | 6. Next is the Wiimote initalizaition. If you your HID service is running every- |
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159 | thing should be fine now and MoteCtrl connects to it. |
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160 | 7. Your Wiimote should rumble now for a sek and the LEDs should have stopped |
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161 | blinking (now only LED 1 is permanently on). |
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162 | --> This tells you, that MoteCtrl established the connection to the |
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163 | Wiimote successfully. |
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164 | 8. You should now see the DEBUG Output scrolling down your terminal screen. |
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165 | 9. First familiarize yourself with the new Wiimote's and Nunchuck's controls, |
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166 | with the engines of the MK deactivated. Watch the Debug output changing |
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167 | its values while you play with the Wiimote & Nunchuck. |
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168 | For Controls, see the chapter =Controls=. |
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169 | 10. Flight: Your MAX GAS is always limited by the gas value, which is set at |
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170 | the backup pilot's 35MHz remote. So the backup pilot "gives you a limit" |
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171 | of the GAS value. |
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172 | The backup pilot can now pass the control up to you by using his |
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173 | "External Control" switch ;) |
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174 | |||
175 | |||
176 | == 6. Useful Tips & Practical Experiences ====================================== |
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177 | |||
178 | - It happens often hat the connection to the Wiimote or the MK can't be |
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179 | established with your bt stack. Just disconnect everything then and try to |
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180 | reconnect all the devices. |
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181 | - While paring your MK's bluetooth with the one of your laptop place the |
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182 | MK text to your laptop. Bluetooth has a very limited range. |
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183 | - The Bluettoth's range is very limited. Don't fly far away from your MK! This |
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184 | will definitely interrupt or cancel your connection (at least your backup |
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185 | pilot will have a bit of fun then ;) |
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186 | - Don't go far away from your laptop with you wiimote in hand. Same like above. |
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187 | |||
188 | |||
189 | --EOF 26th of December 2008, Alpin |