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