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178 Alpin 1
/*	============================================================================
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 *	v0.1
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 *
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 *  *****MoteCtrl*****
186 Alpin 5
 *	written by AndreasB (aka Alpin)
178 Alpin 6
 *
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 *		 lets you control your MikroKopter with a Wiimote!
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 *
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 *
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 *	Copyright December 2008
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 *
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 *	#Credits & Thx:
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 *	- Holger & Ingo for the MikroKopter Project (www.mikrokopter.de)
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 *	- ExternalControl implementation of the FlightControl
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 *  - Ligi for RIDDIM, proof of external control concept
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 *	- Documentation of the MK's SerialProtocol (www.mikrokopter.de/ucwiki/en/SerialProtocol)
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 *	- Michael Laforest for the wiiuse API
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 *
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 *	#WEBSITE:	http://www.mikrokopter.de/ucwiki/en/MoteCtrl
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 *
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 *	*****Use at your own risk! No warranty. Only for private usage.*****
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 *
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 *	#LICENSE:	Released under the GNU General Public License Version 2 or
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 *				(at your option) a later version of this license.
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 *
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 *				This program is distributed in the hope that it will be useful,
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 *				but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *				MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *				GNU General Public License for more details.
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 *				For further details see <www.gnu.org/licenses/>.
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 *
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 *	#DISCLAIMER: Use this project at your own risk!
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 *				 No warrenty.
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 *				 Only for private usage.
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 *
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 *	============================================================================
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 */
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 ***** Table of Contents *****
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	1. Description
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	2. What you need
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	3. Short checklist
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	4. Controls
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	5. Usage of MoteCtrl - Step by Step
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	6. Useful Tips & Practical Experiences
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== 1. Description ==============================================================
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MoteCtrl is a small terminal-based programm, which acts as an
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interface to the Wiimote and the MikroKopter platform.
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The MikroKopter is usually controlled by a normal 35MHz remote control.
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However, the FlightControl software also allows you to control your MikroKopter
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with a so called ExternControl struct, which is send via the serial
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communications line.
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MoteCtrl.exe, running on your windows pc, exactly does this. It captures the
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Wiimote's and Nunchuck's (extension to the wiimote) data and transfers it to the
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FlightCtrl.
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== 2. What you need ============================================================
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- MikroKopter with at least FlightCtrl firmware version 0.71h running
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- wireless serial communication to the FilghtCtrl via Bluetooth
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  (I use the F2M03GXA Bluetooth modul, with the wireless UART service activated,
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  see <http://www.mikrokopter.de/ucwiki/F2M03GXA> for more information)
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- Wiimote with Nunchuck extension
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- Laptop running windows xp
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- Bluetooth-dongle or build-in bluetooth communications in your laptop
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- Since I use the wiiuse lib v0.12 to connect to the Wiimote, your bluetooth
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  stack should be compatible with the wiiuse lib
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  On their page wiiuse.org they say, they successfully tested wiiuse with
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  BlueSoleil, Windows XP SP2 stack and Widcomm
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  (my BT-dongle uses the BlueSoleil stack and it works fine)
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- Backup Pilot at the 35MHz Remote Control (see =Usage=)
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- MoteCtrl.exe along with the wiiuse.dll file (both in one folder)
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== 3. Short Checklist ===========================================================
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(for more detailed step by step instructions, see =Usage of MoteCtrl=)
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-MK ready?, ExternalControl switch assigned?, Backup pilot ready?
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-Nunchuck plugged in to Wiimote? (software check does not work yet, seems to be
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								  a bug in the wiiuse API)
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-BT connections to Wiimote (HID service running) and MikroKopter (Serial Port
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 Service running) established?
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 == 4. Controls ================================================================
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 GAS:		 Controlled by the two buttons on the Nunchuck extension ('c' and 'z').
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			 Press 'c' = Increment(++) gas value by 1
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			 Press 'z' = Decrement(--) gas value by 1
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 YAW(GIER):  Controlled by the Nunchuck's joystick.
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			 Pressed to the right half	=	yaw to the right
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			 Pressed to the left  half   =	yaw to the left
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			 The more you push the joystick to one of the two directions, the
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			 MK yaws faster.
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 NICK(PITCH): Controlled by the Wiimote's pitch-tilt.
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			 Tilting your Wiimote to the left means, tilting the Quadro left.
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			 To the right accordingly.
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 ROLL:		 Controlled by the Wiimote's roll-tilt.
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			 Same like with pitch.
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 SPECIAL:	You can reset the GAS value immediatly to ZERO (==no gas!!) with the
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			HOME-Button. Be carefull with that!
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== 5. Usage of MoteCtrl - Step by Step =========================================
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Preparations:
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1.	Make sure your all the items listed under "What you need" work
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2. 	To allow external control you have to allocate a switch of your normal
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	35MHz RemoteCtrl to the "External Control" variable in the MikroKopter-Tool.
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	You should find this option in the MK Tool -> Configuration/Settings
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	Explanation:
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	Your normal Remote Control is always used as a backup device, in case the
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	operator at the Wiimote looses control of the Quadrokopter or the Bluetooth
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	connection is somehow interruted. Therefore the backup pilot at the 35MHz
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	control can pass the control to the pilot with the Wiimote via his "external
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	control" switch. If he feels that the Quadro is out of control or the
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	connection is interrupted he just flips the switch back, gets control himself
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	again and can rescue the poor -out of control- MikroKopter ;)
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Flight:
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1.	Turn your MikroKopter and your normal remote on. Make sure everything is
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	running perfectly (perhaps do a "normal" test flight to check everything's ok)
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2.	Establish the wireless UART connection to your Mikrokopter with your
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	Bluetooth stack. The BT stack should assign a windows COM Port to the
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	established connection, so you can access it (make sure Serial Port Service
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	is running). You need to remember the NUMBER OF THE COM PORT, e.g COM4.
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	So you established the link to your MK.
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3.	Next establish the connection to the Wiimote:
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	- Press both, the 1 and 2 Button at the same time. All the 4 LEDs should be
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	blinking now. Your wiimote is now in "discovery mode", which means it is
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	searching for a little Nintendo Wii to pair with it.
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	- Now we are (or our BT stack is) the Wii: While the wiimote is in discovery
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	mode search for devices in your BT stack program. You should find the wiimote
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	now. Do NOT pair with it. Rather search for services the wiimote offers.
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	This should bring up the HID (Human Interface Device) service offer.
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	Check that the wiimote is still in discovery mode (only 30 seks active) and
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	activate the HID service. You should now be connected with the wiimote and
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	the 4 leds of the wiimote should still blink but shouldn't stop blinking
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	anymore.
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4.	So the BT stack is now connected to both, the Wiimote and the MK (BT can
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	connect up to 7 devices at a time). Now start the MoteCtrl.exe via a
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	windows commandline. Make sure you put the wiiuse.dll in the same folder
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	like MoteCtrl.exe, otherwise the program will return immediatly without
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	an error message (and you think huh?).
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5.	Next you should be asked for your COM Port number, which is linked to your MK.
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	Type in the number, hit enter.
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6.	Next is the Wiimote initalizaition. If you your HID service is running every-
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	thing should be fine now and MoteCtrl connects to it.
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7.	Your Wiimote should rumble now for a sek and the LEDs should have stopped
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	blinking (now only LED 1 is permanently on).
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	--> This tells you, that MoteCtrl established the connection to the
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	Wiimote successfully.
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8.	You should now see the DEBUG Output scrolling down your terminal screen.
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9.	First familiarize yourself with the new Wiimote's and Nunchuck's controls,
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	with the engines of the MK deactivated. Watch the Debug output changing
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	its values while you play with the Wiimote & Nunchuck.
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	For Controls, see the chapter =Controls=.
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10.	Flight: Your MAX GAS is always limited by the gas value, which is set at
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	the backup pilot's 35MHz remote. So the backup pilot "gives you a limit"
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	of the GAS value.
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	The backup pilot can now pass the control up to you by using his
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	"External Control" switch ;)
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== 6. Useful Tips & Practical Experiences ======================================
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- It happens often hat the connection to the Wiimote or the MK can't be
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  established with your bt stack. Just disconnect everything then and try to
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  reconnect all the devices.
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- While paring your MK's bluetooth with the one of your laptop place the
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  MK text to your laptop. Bluetooth has a very limited range.
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- The Bluettoth's range is very limited. Don't fly far away from your MK! This
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  will definitely interrupt or cancel your connection (at least your backup
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  pilot will have a bit of fun then ;)
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- Don't go far away from your laptop with you wiimote in hand. Same like above.
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--EOF 26th of December 2008, Andreas Benzin