Diff: Wiimote.cpp

Revision:

0:e2ef12467862

diff -r 000000000000 -r e2ef12467862 Wiimote.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Wiimote.cpp	Mon Apr 11 23:03:22 2011 +0000
@@ -0,0 +1,101 @@
+/* Copyright (c) 2011, mbed
+ * 
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *  
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *  
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+// Simple decode class for Wii Remote data
+
+#include "Wiimote.h"
+
+// Wii Report Formats: 
+//  * http://wiibrew.org/wiki/Wiimote#0x37:_Core_Buttons_and_Accelerometer_with_10_IR_bytes_and_6_Extension_Bytes
+//  * http://wiki.wiimoteproject.com/Reports#0x37_BTN_.2B_XLR_.2B_IR_.2B_6_EXT
+
+// Input Report 0x37:
+// 
+// 0 [ ?    |    X(1:0)   | PLUS  | UP | DOWN | RIGHT | LEFT ]
+// 1 [ HOME | Z(1) | Y(1) | MINUS |  A |   B  |  ONE  |  TWO ]
+// 2 [                        X(9:2)                         ]
+// 3 [                        Y(9:2)                         ]
+// 4 [                        Z(9:2)                         ]
+//
+
+#include <stdio.h>
+#include <math.h>
+
+#define WII_ZERO 0x206
+#define WII_1G   0x6A
+
+void Wiimote::decode(char* data) {
+
+    // read buttons
+    left  = (data[0] >> 0) & 0x1;
+    right = (data[0] >> 1) & 0x1;
+    down  = (data[0] >> 2) & 0x1;
+    up    = (data[0] >> 3) & 0x1;
+    plus  = (data[0] >> 4) & 0x1;
+    two   = (data[1] >> 0) & 0x1;
+    one   = (data[1] >> 1) & 0x1;
+    b     = (data[1] >> 2) & 0x1;
+    a     = (data[1] >> 3) & 0x1;
+    minus = (data[1] >> 4) & 0x1;
+    home  = (data[1] >> 7) & 0x1;
+    
+    // read accelerometers
+    rawx = (data[2] << 2) | (data[0] & 0x60) >> 5;
+    rawy = (data[3] << 2) | (data[1] & 0x20) >> 4;
+    rawz = (data[4] << 2) | (data[1] & 0x40) >> 5;
+
+    // calculate accelerometer gravity
+    x = (float)((int)rawx - WII_ZERO) / (float)WII_1G;
+    y = (float)((int)rawy - WII_ZERO) / (float)WII_1G;
+    z = (float)((int)rawz - WII_ZERO) / (float)WII_1G;
+
+    // calculate wheel angle    
+    wheel = atan2(-y, -x) * (180.0 / 3.141592);
+} 
+
+void Wiimote::dump() {
+    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);
+}
+
+
+// Accelerometer data
+//      y-
+//     +---+               +--+
+//     | + |               +  B
+//     | A |               A  |
+//     |   |               |  |
+// x+  |   |  x-       z+  |  |  z-
+//     | 1 |               1  |
+//     | 2 |               2  |
+//     +---+               +--+
+//      y+
+//
+// x+ 0x19B
+// x0 0x205
+// x- 0x26E
+//
+// y+ 0x19C   0x6A
+// y0 0x206
+// y- 0x26E   0x68
+//
+// z+ 0x19C 
+// z0 0x208
+// z- 0x26E