WiiRacing - First draft of Wii Robot Racing, a simple example…

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Simon Ford / Mbed 2 deprecated WiiRacing

First draft of Wii Robot Racing, a simple example of using Wii Remote connected via bluetooth to control an m3pi robot, plus RFID \"powerups\" to modify behaviour

Dependencies: mbed m3pi ID12RFIDIRQ

Wiimote.cpp@0:e2ef12467862, 2011-04-11 (annotated)

Committer:: simon
Date:: Mon Apr 11 23:03:22 2011 +0000
Revision:: 0:e2ef12467862

Who changed what in which revision?

User	Revision	Line number	New contents of line
simon	0:e2ef12467862	1	/* Copyright (c) 2011, mbed
simon	0:e2ef12467862	2	*
simon	0:e2ef12467862	3	* Permission is hereby granted, free of charge, to any person obtaining a copy
simon	0:e2ef12467862	4	* of this software and associated documentation files (the "Software"), to deal
simon	0:e2ef12467862	5	* in the Software without restriction, including without limitation the rights
simon	0:e2ef12467862	6	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
simon	0:e2ef12467862	7	* copies of the Software, and to permit persons to whom the Software is
simon	0:e2ef12467862	8	* furnished to do so, subject to the following conditions:
simon	0:e2ef12467862	9	*
simon	0:e2ef12467862	10	* The above copyright notice and this permission notice shall be included in
simon	0:e2ef12467862	11	* all copies or substantial portions of the Software.
simon	0:e2ef12467862	12	*
simon	0:e2ef12467862	13	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
simon	0:e2ef12467862	14	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
simon	0:e2ef12467862	15	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
simon	0:e2ef12467862	16	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
simon	0:e2ef12467862	17	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
simon	0:e2ef12467862	18	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
simon	0:e2ef12467862	19	* THE SOFTWARE.
simon	0:e2ef12467862	20	*/
simon	0:e2ef12467862	21
simon	0:e2ef12467862	22	// Simple decode class for Wii Remote data
simon	0:e2ef12467862	23
simon	0:e2ef12467862	24	#include "Wiimote.h"
simon	0:e2ef12467862	25
simon	0:e2ef12467862	26	// Wii Report Formats:
simon	0:e2ef12467862	27	// * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes
simon	0:e2ef12467862	28	// * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT
simon	0:e2ef12467862	29
simon	0:e2ef12467862	30	// Input Report 0x37:
simon	0:e2ef12467862	31	//
simon	0:e2ef12467862	32	// 0 [ ? \| X(1:0) \| PLUS \| UP \| DOWN \| RIGHT \| LEFT ]
simon	0:e2ef12467862	33	// 1 [ HOME \| Z(1) \| Y(1) \| MINUS \| A \| B \| ONE \| TWO ]
simon	0:e2ef12467862	34	// 2 [ X(9:2) ]
simon	0:e2ef12467862	35	// 3 [ Y(9:2) ]
simon	0:e2ef12467862	36	// 4 [ Z(9:2) ]
simon	0:e2ef12467862	37	//
simon	0:e2ef12467862	38
simon	0:e2ef12467862	39	#include <stdio.h>
simon	0:e2ef12467862	40	#include <math.h>
simon	0:e2ef12467862	41
simon	0:e2ef12467862	42	#define WII_ZERO 0x206
simon	0:e2ef12467862	43	#define WII_1G 0x6A
simon	0:e2ef12467862	44
simon	0:e2ef12467862	45	void Wiimote::decode(char* data) {
simon	0:e2ef12467862	46
simon	0:e2ef12467862	47	// read buttons
simon	0:e2ef12467862	48	left = (data[0] >> 0) & 0x1;
simon	0:e2ef12467862	49	right = (data[0] >> 1) & 0x1;
simon	0:e2ef12467862	50	down = (data[0] >> 2) & 0x1;
simon	0:e2ef12467862	51	up = (data[0] >> 3) & 0x1;
simon	0:e2ef12467862	52	plus = (data[0] >> 4) & 0x1;
simon	0:e2ef12467862	53	two = (data[1] >> 0) & 0x1;
simon	0:e2ef12467862	54	one = (data[1] >> 1) & 0x1;
simon	0:e2ef12467862	55	b = (data[1] >> 2) & 0x1;
simon	0:e2ef12467862	56	a = (data[1] >> 3) & 0x1;
simon	0:e2ef12467862	57	minus = (data[1] >> 4) & 0x1;
simon	0:e2ef12467862	58	home = (data[1] >> 7) & 0x1;
simon	0:e2ef12467862	59
simon	0:e2ef12467862	60	// read accelerometers
simon	0:e2ef12467862	61	rawx = (data[2] << 2) \| (data[0] & 0x60) >> 5;
simon	0:e2ef12467862	62	rawy = (data[3] << 2) \| (data[1] & 0x20) >> 4;
simon	0:e2ef12467862	63	rawz = (data[4] << 2) \| (data[1] & 0x40) >> 5;
simon	0:e2ef12467862	64
simon	0:e2ef12467862	65	// calculate accelerometer gravity
simon	0:e2ef12467862	66	x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;
simon	0:e2ef12467862	67	y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;
simon	0:e2ef12467862	68	z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;
simon	0:e2ef12467862	69
simon	0:e2ef12467862	70	// calculate wheel angle
simon	0:e2ef12467862	71	wheel = atan2(-y, -x) * (180.0 / 3.141592);
simon	0:e2ef12467862	72	}
simon	0:e2ef12467862	73
simon	0:e2ef12467862	74	void Wiimote::dump() {
simon	0:e2ef12467862	75	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);
simon	0:e2ef12467862	76	}
simon	0:e2ef12467862	77
simon	0:e2ef12467862	78
simon	0:e2ef12467862	79	// Accelerometer data
simon	0:e2ef12467862	80	// y-
simon	0:e2ef12467862	81	// +---+ +--+
simon	0:e2ef12467862	82	// \| + \| + B
simon	0:e2ef12467862	83	// \| A \| A \|
simon	0:e2ef12467862	84	// \| \| \| \|
simon	0:e2ef12467862	85	// x+ \| \| x- z+ \| \| z-
simon	0:e2ef12467862	86	// \| 1 \| 1 \|
simon	0:e2ef12467862	87	// \| 2 \| 2 \|
simon	0:e2ef12467862	88	// +---+ +--+
simon	0:e2ef12467862	89	// y+
simon	0:e2ef12467862	90	//
simon	0:e2ef12467862	91	// x+ 0x19B
simon	0:e2ef12467862	92	// x0 0x205
simon	0:e2ef12467862	93	// x- 0x26E
simon	0:e2ef12467862	94	//
simon	0:e2ef12467862	95	// y+ 0x19C 0x6A
simon	0:e2ef12467862	96	// y0 0x206
simon	0:e2ef12467862	97	// y- 0x26E 0x68
simon	0:e2ef12467862	98	//
simon	0:e2ef12467862	99	// z+ 0x19C
simon	0:e2ef12467862	100	// z0 0x208
simon	0:e2ef12467862	101	// z- 0x26E

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	11 Apr 2011
Imports:	45
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	3
Followers:	1

This repository is Public (Unlisted).

Wiimote.cpp@0:e2ef12467862, 2011-04-11 (annotated)

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