Junichi Katsu / Mbed 2 deprecated WallbotTypeN

うおーるぼっと用プログラム Wiiリモコンからのダイレクト操作モードのみ BlueUSBをベースに使用しています。

Dependencies:   BD6211F mbed

Wiimote/Wiimote.cpp@0:425791fe4b42, 2011-05-01 (annotated)

Committer:
jksoft
Date:
Sun May 01 11:12:52 2011 +0000
Revision:
0:425791fe4b42

        

        
Who changed what in which revision?

        

            
                
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/* Copyright (c) 2011, mbed





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 * 





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 * Permission is hereby granted, free of charge, to any person obtaining a copy





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 * of this software and associated documentation files (the "Software"), to deal





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 * in the Software without restriction, including without limitation the rights





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 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell





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 * copies of the Software, and to permit persons to whom the Software is





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 * furnished to do so, subject to the following conditions:





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 *  





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 * The above copyright notice and this permission notice shall be included in





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 * all copies or substantial portions of the Software.





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 *  





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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR





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 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,





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 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE





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 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER





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 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,





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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN





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 * THE SOFTWARE.





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 */





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// Simple decode class for Wii Remote data





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#include "Wiimote.h"





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// Wii Report Formats: 





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//  * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes





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//  * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT





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// Input Report 0x37:





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// 





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// 0 [ ?    |    X(1:0)   | PLUS  | UP | DOWN | RIGHT | LEFT ]





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// 1 [ HOME | Z(1) | Y(1) | MINUS |  A |   B  |  ONE  |  TWO ]





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// 2 [                        X(9:2)                         ]





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// 3 [                        Y(9:2)                         ]





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// 4 [                        Z(9:2)                         ]





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//





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#include <stdio.h>





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#include <math.h>





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#define WII_ZERO 0x206





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#define WII_1G   0x6A





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void Wiimote::decode(char* data) {





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    // read buttons





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    left  = (data[0] >> 0) & 0x1;





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    right = (data[0] >> 1) & 0x1;





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    down  = (data[0] >> 2) & 0x1;





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    up    = (data[0] >> 3) & 0x1;





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    plus  = (data[0] >> 4) & 0x1;





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    two   = (data[1] >> 0) & 0x1;





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    one   = (data[1] >> 1) & 0x1;





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    b     = (data[1] >> 2) & 0x1;





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    a     = (data[1] >> 3) & 0x1;





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    minus = (data[1] >> 4) & 0x1;





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    home  = (data[1] >> 7) & 0x1;





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    // read accelerometers





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    rawx = (data[2] << 2) | (data[0] & 0x60) >> 5;





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    rawy = (data[3] << 2) | (data[1] & 0x20) >> 4;





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    rawz = (data[4] << 2) | (data[1] & 0x40) >> 5;





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    // calculate accelerometer gravity





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    x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;





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    y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;





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    z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;





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    // calculate wheel angle    





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    wheel = atan2(-y, -x) * (180.0 / 3.141592);





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} 





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void Wiimote::dump() {





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    printf("%d%d%d%d%d%d%d%d%d%d%d %.3f %.3f %.3f %.2f\n", left, right, down, up, plus, two, one, b, a, minus, home, x, y, z, wheel);





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}





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// Accelerometer data





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//      y-





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//     +---+               +--+





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//     | + |               +  B





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//     | A |               A  |





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//     |   |               |  |





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// x+  |   |  x-       z+  |  |  z-





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//     | 1 |               1  |





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//     | 2 |               2  |





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//     +---+               +--+





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//      y+





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//





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// x+ 0x19B





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// x0 0x205





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// x- 0x26E





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//





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// y+ 0x19C   0x6A





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// y0 0x206





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// y- 0x26E   0x68





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//





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// z+ 0x19C 





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// z0 0x208





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// z- 0x26E