Chris Styles / Mbed 2 deprecated m3pi_WiiRacing

Simons Wii controlled m3pi program

Dependencies:   mbed m3pi ID12RFIDIRQ

Wiimote.cpp@0:0ab65a1aef12, 2011-05-18 (annotated)

Committer:
chris
Date:
Wed May 18 14:50:46 2011 +0000
Revision:
0:0ab65a1aef12
Added some printing to the m3pi screen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:0ab65a1aef12 1 /* Copyright (c) 2011, mbed
chris 0:0ab65a1aef12 2 *
chris 0:0ab65a1aef12 3 * Permission is hereby granted, free of charge, to any person obtaining a copy
chris 0:0ab65a1aef12 4 * of this software and associated documentation files (the "Software"), to deal
chris 0:0ab65a1aef12 5 * in the Software without restriction, including without limitation the rights
chris 0:0ab65a1aef12 6 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris 0:0ab65a1aef12 7 * copies of the Software, and to permit persons to whom the Software is
chris 0:0ab65a1aef12 8 * furnished to do so, subject to the following conditions:
chris 0:0ab65a1aef12 9 *
chris 0:0ab65a1aef12 10 * The above copyright notice and this permission notice shall be included in
chris 0:0ab65a1aef12 11 * all copies or substantial portions of the Software.
chris 0:0ab65a1aef12 12 *
chris 0:0ab65a1aef12 13 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris 0:0ab65a1aef12 14 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris 0:0ab65a1aef12 15 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris 0:0ab65a1aef12 16 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris 0:0ab65a1aef12 17 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris 0:0ab65a1aef12 18 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris 0:0ab65a1aef12 19 * THE SOFTWARE.
chris 0:0ab65a1aef12 20 */
chris 0:0ab65a1aef12 21
chris 0:0ab65a1aef12 22 // Simple decode class for Wii Remote data
chris 0:0ab65a1aef12 23
chris 0:0ab65a1aef12 24 #include "Wiimote.h"
chris 0:0ab65a1aef12 25
chris 0:0ab65a1aef12 26 // Wii Report Formats:
chris 0:0ab65a1aef12 27 // * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes
chris 0:0ab65a1aef12 28 // * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT
chris 0:0ab65a1aef12 29
chris 0:0ab65a1aef12 30 // Input Report 0x37:
chris 0:0ab65a1aef12 31 //
chris 0:0ab65a1aef12 32 // 0 [ ? | X(1:0) | PLUS | UP | DOWN | RIGHT | LEFT ]
chris 0:0ab65a1aef12 33 // 1 [ HOME | Z(1) | Y(1) | MINUS | A | B | ONE | TWO ]
chris 0:0ab65a1aef12 34 // 2 [ X(9:2) ]
chris 0:0ab65a1aef12 35 // 3 [ Y(9:2) ]
chris 0:0ab65a1aef12 36 // 4 [ Z(9:2) ]
chris 0:0ab65a1aef12 37 //
chris 0:0ab65a1aef12 38
chris 0:0ab65a1aef12 39 #include <stdio.h>
chris 0:0ab65a1aef12 40 #include <math.h>
chris 0:0ab65a1aef12 41
chris 0:0ab65a1aef12 42 #define WII_ZERO 0x206
chris 0:0ab65a1aef12 43 #define WII_1G 0x6A
chris 0:0ab65a1aef12 44
chris 0:0ab65a1aef12 45 void Wiimote::decode(char* data) {
chris 0:0ab65a1aef12 46
chris 0:0ab65a1aef12 47 // read buttons
chris 0:0ab65a1aef12 48 left = (data[0] >> 0) & 0x1;
chris 0:0ab65a1aef12 49 right = (data[0] >> 1) & 0x1;
chris 0:0ab65a1aef12 50 down = (data[0] >> 2) & 0x1;
chris 0:0ab65a1aef12 51 up = (data[0] >> 3) & 0x1;
chris 0:0ab65a1aef12 52 plus = (data[0] >> 4) & 0x1;
chris 0:0ab65a1aef12 53 two = (data[1] >> 0) & 0x1;
chris 0:0ab65a1aef12 54 one = (data[1] >> 1) & 0x1;
chris 0:0ab65a1aef12 55 b = (data[1] >> 2) & 0x1;
chris 0:0ab65a1aef12 56 a = (data[1] >> 3) & 0x1;
chris 0:0ab65a1aef12 57 minus = (data[1] >> 4) & 0x1;
chris 0:0ab65a1aef12 58 home = (data[1] >> 7) & 0x1;
chris 0:0ab65a1aef12 59
chris 0:0ab65a1aef12 60 // read accelerometers
chris 0:0ab65a1aef12 61 rawx = (data[2] << 2) | (data[0] & 0x60) >> 5;
chris 0:0ab65a1aef12 62 rawy = (data[3] << 2) | (data[1] & 0x20) >> 4;
chris 0:0ab65a1aef12 63 rawz = (data[4] << 2) | (data[1] & 0x40) >> 5;
chris 0:0ab65a1aef12 64
chris 0:0ab65a1aef12 65 // calculate accelerometer gravity
chris 0:0ab65a1aef12 66 x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;
chris 0:0ab65a1aef12 67 y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;
chris 0:0ab65a1aef12 68 z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;
chris 0:0ab65a1aef12 69
chris 0:0ab65a1aef12 70 // calculate wheel angle
chris 0:0ab65a1aef12 71 wheel = atan2(-y, -x) * (180.0 / 3.141592);
chris 0:0ab65a1aef12 72 }
chris 0:0ab65a1aef12 73
chris 0:0ab65a1aef12 74 void Wiimote::dump() {
chris 0:0ab65a1aef12 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);
chris 0:0ab65a1aef12 76 }
chris 0:0ab65a1aef12 77
chris 0:0ab65a1aef12 78
chris 0:0ab65a1aef12 79 // Accelerometer data
chris 0:0ab65a1aef12 80 // y-
chris 0:0ab65a1aef12 81 // +---+ +--+
chris 0:0ab65a1aef12 82 // | + | + B
chris 0:0ab65a1aef12 83 // | A | A |
chris 0:0ab65a1aef12 84 // | | | |
chris 0:0ab65a1aef12 85 // x+ | | x- z+ | | z-
chris 0:0ab65a1aef12 86 // | 1 | 1 |
chris 0:0ab65a1aef12 87 // | 2 | 2 |
chris 0:0ab65a1aef12 88 // +---+ +--+
chris 0:0ab65a1aef12 89 // y+
chris 0:0ab65a1aef12 90 //
chris 0:0ab65a1aef12 91 // x+ 0x19B
chris 0:0ab65a1aef12 92 // x0 0x205
chris 0:0ab65a1aef12 93 // x- 0x26E
chris 0:0ab65a1aef12 94 //
chris 0:0ab65a1aef12 95 // y+ 0x19C 0x6A
chris 0:0ab65a1aef12 96 // y0 0x206
chris 0:0ab65a1aef12 97 // y- 0x26E 0x68
chris 0:0ab65a1aef12 98 //
chris 0:0ab65a1aef12 99 // z+ 0x19C
chris 0:0ab65a1aef12 100 // z0 0x208
chris 0:0ab65a1aef12 101 // z- 0x26E