Andrew Schaeffer / Mbed 2 deprecated OU_Davis_Old_Robot

This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.

Dependencies:   FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed

Wiimote/Wiimote.cpp@0:bcad524c1856, 2017-11-01 (annotated)

Committer:
DrewSchaef
Date:
Wed Nov 01 15:57:59 2017 +0000
Revision:
0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrewSchaef 0:bcad524c1856 1 /* Copyright (c) 2011, mbed
DrewSchaef 0:bcad524c1856 2 *
DrewSchaef 0:bcad524c1856 3 * Permission is hereby granted, free of charge, to any person obtaining a copy
DrewSchaef 0:bcad524c1856 4 * of this software and associated documentation files (the "Software"), to deal
DrewSchaef 0:bcad524c1856 5 * in the Software without restriction, including without limitation the rights
DrewSchaef 0:bcad524c1856 6 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DrewSchaef 0:bcad524c1856 7 * copies of the Software, and to permit persons to whom the Software is
DrewSchaef 0:bcad524c1856 8 * furnished to do so, subject to the following conditions:
DrewSchaef 0:bcad524c1856 9 *
DrewSchaef 0:bcad524c1856 10 * The above copyright notice and this permission notice shall be included in
DrewSchaef 0:bcad524c1856 11 * all copies or substantial portions of the Software.
DrewSchaef 0:bcad524c1856 12 *
DrewSchaef 0:bcad524c1856 13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DrewSchaef 0:bcad524c1856 14 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DrewSchaef 0:bcad524c1856 15 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DrewSchaef 0:bcad524c1856 16 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DrewSchaef 0:bcad524c1856 17 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DrewSchaef 0:bcad524c1856 18 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
DrewSchaef 0:bcad524c1856 19 * THE SOFTWARE.
DrewSchaef 0:bcad524c1856 20 */
DrewSchaef 0:bcad524c1856 21
DrewSchaef 0:bcad524c1856 22 // Simple decode class for Wii Remote data
DrewSchaef 0:bcad524c1856 23
DrewSchaef 0:bcad524c1856 24 #include "Wiimote.h"
DrewSchaef 0:bcad524c1856 25
DrewSchaef 0:bcad524c1856 26 // Wii Report Formats:
DrewSchaef 0:bcad524c1856 27 // * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes
DrewSchaef 0:bcad524c1856 28 // * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT
DrewSchaef 0:bcad524c1856 29
DrewSchaef 0:bcad524c1856 30 // Input Report 0x37:
DrewSchaef 0:bcad524c1856 31 //
DrewSchaef 0:bcad524c1856 32 // 0 [ ? | X(1:0) | PLUS | UP | DOWN | RIGHT | LEFT ]
DrewSchaef 0:bcad524c1856 33 // 1 [ HOME | Z(1) | Y(1) | MINUS | A | B | ONE | TWO ]
DrewSchaef 0:bcad524c1856 34 // 2 [ X(9:2) ]
DrewSchaef 0:bcad524c1856 35 // 3 [ Y(9:2) ]
DrewSchaef 0:bcad524c1856 36 // 4 [ Z(9:2) ]
DrewSchaef 0:bcad524c1856 37 //
DrewSchaef 0:bcad524c1856 38
DrewSchaef 0:bcad524c1856 39 #include <stdio.h>
DrewSchaef 0:bcad524c1856 40 #include <math.h>
DrewSchaef 0:bcad524c1856 41
DrewSchaef 0:bcad524c1856 42 #define WII_ZERO 0x206
DrewSchaef 0:bcad524c1856 43 #define WII_1G 0x6A
DrewSchaef 0:bcad524c1856 44
DrewSchaef 0:bcad524c1856 45 void Wiimote::decode(char* data) {
DrewSchaef 0:bcad524c1856 46
DrewSchaef 0:bcad524c1856 47 // read buttons
DrewSchaef 0:bcad524c1856 48 left = (data[0] >> 0) & 0x1;
DrewSchaef 0:bcad524c1856 49 right = (data[0] >> 1) & 0x1;
DrewSchaef 0:bcad524c1856 50 down = (data[0] >> 2) & 0x1;
DrewSchaef 0:bcad524c1856 51 up = (data[0] >> 3) & 0x1;
DrewSchaef 0:bcad524c1856 52 plus = (data[0] >> 4) & 0x1;
DrewSchaef 0:bcad524c1856 53 two = (data[1] >> 0) & 0x1;
DrewSchaef 0:bcad524c1856 54 one = (data[1] >> 1) & 0x1;
DrewSchaef 0:bcad524c1856 55 b = (data[1] >> 2) & 0x1;
DrewSchaef 0:bcad524c1856 56 a = (data[1] >> 3) & 0x1;
DrewSchaef 0:bcad524c1856 57 minus = (data[1] >> 4) & 0x1;
DrewSchaef 0:bcad524c1856 58 home = (data[1] >> 7) & 0x1;
DrewSchaef 0:bcad524c1856 59
DrewSchaef 0:bcad524c1856 60 // read accelerometers
DrewSchaef 0:bcad524c1856 61 rawx = (data[2] << 2) | (data[0] & 0x60) >> 5;
DrewSchaef 0:bcad524c1856 62 rawy = (data[3] << 2) | (data[1] & 0x20) >> 4;
DrewSchaef 0:bcad524c1856 63 rawz = (data[4] << 2) | (data[1] & 0x40) >> 5;
DrewSchaef 0:bcad524c1856 64
DrewSchaef 0:bcad524c1856 65 // calculate accelerometer gravity
DrewSchaef 0:bcad524c1856 66 x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;
DrewSchaef 0:bcad524c1856 67 y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;
DrewSchaef 0:bcad524c1856 68 z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;
DrewSchaef 0:bcad524c1856 69
DrewSchaef 0:bcad524c1856 70 // calculate wheel angle
DrewSchaef 0:bcad524c1856 71 wheel = atan2(-y, -x) * (180.0 / 3.141592);
DrewSchaef 0:bcad524c1856 72 }
DrewSchaef 0:bcad524c1856 73
DrewSchaef 0:bcad524c1856 74 void Wiimote::dump() {
DrewSchaef 0:bcad524c1856 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);
DrewSchaef 0:bcad524c1856 76 }
DrewSchaef 0:bcad524c1856 77
DrewSchaef 0:bcad524c1856 78
DrewSchaef 0:bcad524c1856 79 // Accelerometer data
DrewSchaef 0:bcad524c1856 80 // y-
DrewSchaef 0:bcad524c1856 81 // +---+ +--+
DrewSchaef 0:bcad524c1856 82 // | + | + B
DrewSchaef 0:bcad524c1856 83 // | A | A |
DrewSchaef 0:bcad524c1856 84 // | | | |
DrewSchaef 0:bcad524c1856 85 // x+ | | x- z+ | | z-
DrewSchaef 0:bcad524c1856 86 // | 1 | 1 |
DrewSchaef 0:bcad524c1856 87 // | 2 | 2 |
DrewSchaef 0:bcad524c1856 88 // +---+ +--+
DrewSchaef 0:bcad524c1856 89 // y+
DrewSchaef 0:bcad524c1856 90 //
DrewSchaef 0:bcad524c1856 91 // x+ 0x19B
DrewSchaef 0:bcad524c1856 92 // x0 0x205
DrewSchaef 0:bcad524c1856 93 // x- 0x26E
DrewSchaef 0:bcad524c1856 94 //
DrewSchaef 0:bcad524c1856 95 // y+ 0x19C 0x6A
DrewSchaef 0:bcad524c1856 96 // y0 0x206
DrewSchaef 0:bcad524c1856 97 // y- 0x26E 0x68
DrewSchaef 0:bcad524c1856 98 //
DrewSchaef 0:bcad524c1856 99 // z+ 0x19C
DrewSchaef 0:bcad524c1856 100 // z0 0x208
DrewSchaef 0:bcad524c1856 101 // z- 0x26E