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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 (
 *      - ExternalControl implementation of the FlightControl
 *  - Ligi for RIDDIM, proof of external control concept
 *      - Documentation of the MK's SerialProtocol (
 *      - Michael Laforest for the wiiuse API
 *      #WEBSITE:
 *      *****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 <>.
 *      #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

== 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 <> 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 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 =========================================

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
        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 ;)

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
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