WebSVN - Projects - Blame - Rev 178 - /MoteCtrl/Sources/wiimote.c

Rev	Author	Line No.	Line
178	Alpin	1	/* This file is part of MoteCtrl
		2	http://www.mikrokopter.de/ucwiki/en/MoteCtrl
		3	*/
		4
		5	#include <stdio.h> //I/O functions
		6	#include <windows.h> //like stdlib.h
		7	//#include "wiiuse.h" //the wiiuse lib to communicate with the wiimote
		8
		9	#include "wiimote.h"
		10
		11	/*Nunchuck struct, main.c don't needs this, only wiimote.c needs this
		12	in the handle_event function */
		13	struct nunchuk_t* nc;
		14
		15
		16	int init_wiimote (void) {
		17
		18
		19	int tmp;
		20
		21	/*Initialize / create one Wiimote handle:
		22	wiiuse_init is creating the corresponding wiimote struct and returns
		23	a pointer to the created typedefed struct */
		24	mote = wiiuse_init(MAX_WIIMOTES);
		25
		26	/*Now connect to the wiimote, that should be in discovery mode (all 4 leds
		27	should be blinking, after you activated the Bluetooth HID service
		28	--> means: "I'm in discovery mode, searching for a Wii").
		29	wiiuse_find will scan and connect the number of wiimotes passed.
		30	The information about the connected wiimote will be stored in the
		31	passed wiimote struct. */
		32	printf("\nAutodetecting your Bluetooth Stack (like Blue Soleil for instance)\n"
		33	"Scanning for available Wiimotes...\n"
		34	"(make sure BT HID service is running and the 4 LEDs of the Wiimote are blinking)\n\n");
		35
		36	tmp = wiiuse_find(mote, MAX_WIIMOTES, 8); //8 sec timeout
		37
		38	if(tmp == 0) {
		39	printf("***ERR: Couldn't find Bluetooth stack / No Wiimote found\n"
		40	"Bluetooth stack supported by wiiuse? HID service running?\n"
		41	"Wiimote in discovery mode (all 4 LED's blinking)?\n\n");
		42	return EXIT_FAILURE;
		43	}
		44	else { printf("\n***Wiimote found, trying to connect...\n\n"); }
		45
		46	//for backup (since wiiuse_find already connected) call wiiuse_connect:
		47	tmp = wiiuse_connect(mote, MAX_WIIMOTES);
		48
		49	if(tmp == 0) {
		50	printf("***ERR:Couldn't establish connection with found Wiimote\n\n");
		51	return EXIT_FAILURE;
		52	}
		53	else { printf("***Connection to Wiimote established!\n\n"); }
		54
		55
		56	//Wiimote is connected, everything could be done now
		57
		58	//Do a bit of fun:
		59
		60	wiiuse_rumble(mote[0], 1); //switch rumble on
		61
		62	//blinking with leds ;)
		63	wiiuse_set_leds(mote[0], WIIMOTE_LED_1);
		64	Sleep(100);
		65	wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
		66	wiiuse_set_leds(mote[0], WIIMOTE_LED_2);
		67	Sleep(100);
		68	wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
		69	wiiuse_set_leds(mote[0], WIIMOTE_LED_3);
		70	Sleep(100);
		71	wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
		72	wiiuse_set_leds(mote[0], WIIMOTE_LED_4);
		73	Sleep(100);
		74	wiiuse_set_leds(mote[0], WIIMOTE_LED_NONE);
		75
		76	wiiuse_rumble(mote[0], 0); //switch rumble off
		77
		78
		79	/*if there happens no LED change event (or some event) after rumble-turn-off,
		80	the rumble-turn-off has no effect (seems to be a bug in the wiiuse API) */
		81	wiiuse_set_leds(mote[0], WIIMOTE_LED_1);
		82
		83	Sleep(1000); //wait a sek to let the rumble vibe off
		84	//do not press any buttons in that time!
		85
		86	//Avtivate the motion sensing feature of the wiimote:
		87	wiiuse_motion_sensing(mote[0], 1);
		88
		89
		90	return EXIT_SUCCESS;
		91	}
		92
		93
		94	int check_nunchuck(void) {
		95	if(mote[0]->exp.type){
		96	return 1;
		97	}
		98	else { return 0; }
		99	}
		100
		101
		102	//write Disconnect Wrapper ?
		103	//wiiuse_disconnect(mote[0]);
		104
		105
		106	/*This Subroutine is called, when the wiimote sends a generic event, like
		107	a pushed button or the tilt changing by at least 0.5 degrees:
		108	(it passes the wiimote data to the ExternalControl struct) */
		109	void handle_event(struct wiimote_t* wm) {
		110
		111	/*** Button and tilt-sensor assignments for the WIIMOTE: ***/
		112
		113	/*GAS: (better use the nunchuck buttons to control the gas, since the
		114	wiimotes tilt sensor is very sensitive and when pressing buttons on
		115	the wiimote you atomatically change the state of the tilt)*/
		116
		117	if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_HOME)) { //reset gas value to 0
		118	ExternControl.Gas = 0; //(be careful with that!)
		119	printf("\n*************Resetting GAS to ZERO!*************\n\n");
		120	}
		121
		122	if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_UP)) {
		123	if (ExternControl.Gas < 240) { //overflow protection, max gas limit
		124	ExternControl.Gas++; //increment gas value
		125	}
		126	}
		127
		128	if (IS_JUST_PRESSED(wm, WIIMOTE_BUTTON_DOWN)) {
		129	if (ExternControl.Gas > 0) { //underflow protection (0-- = 255!!!GAS)
		130	ExternControl.Gas--; //decrement gas value
		131	}
		132	}
		133
		134	//NICK & ROLL:
		135	if( (wm->orient.roll > 127.0) \|\| //overrun protections
		136	(wm->orient.roll < -127.0) \|\|
		137	(wm->orient.pitch > 127.0) \|\|
		138	(wm->orient.pitch < -127.0))
		139	{ return; }
		140	else {
		141	/*Associate the degree-Values of the wiimotes tilt sensor to the
		142	corresponding ExternalControl struct values: */
		143	ExternControl.Nick = (signed char) wm->orient.pitch;
		144	ExternControl.Roll = -( (signed char) wm->orient.roll );
		145	}
		146
		147	/*** Button and joystick assignments for the NUNCHUCK extension: ***/
		148
		149	nc = (nunchuk_t*)&mote[0]->exp.nunchuk;
		150
		151	//GAS:
		152	if (IS_JUST_PRESSED(nc, NUNCHUK_BUTTON_C)) {
		153	if (ExternControl.Gas < 240) { //overflow protection, max gas limit
		154	ExternControl.Gas++; //increment gas value
		155	}
		156	}
		157
		158	if (IS_JUST_PRESSED(nc, NUNCHUK_BUTTON_Z)) {
		159	if (ExternControl.Gas > 0) { //underflow protection (0-- = 255!!!GAS)
		160	ExternControl.Gas--; //decrement gas value
		161	}
		162	}
		163
		164	//GIER:
		165	if( (nc->js.ang > 0.0) && (nc->js.ang < 180) ) {
		166	/* Nunchuck joystick is pressed to the right half, means
		167	gier with the MikroKopter to the right: */
		168	ExternControl.Gier = (signed char) (nc->js.mag * 100);
		169	}
		170
		171	if( (nc->js.ang > 180) ) {
		172	/* Nunchuck joystick is pressed to the left half, means
		173	gier with the MikroKopter to the left: */
		174	ExternControl.Gier = -(signed char) (nc->js.mag * 100);
		175	}
		176
		177
		178	//DEBUG Output: Print ExternControl status
		179	printf("Gas: %3d Gier: %4d Nick: %4d Roll: %4d \n",
		180	ExternControl.Gas, ExternControl.Gier, ExternControl.Nick, ExternControl.Roll);
		181
		182	}
		183	/*
		184	TODO: bei connectionabbruch (ext.config=0),
		185	ctrl+q / ctrl+x -> abbruch (disconnect, ext.config=0)
		186	*/

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