#include <Wii.h>

Inheritance diagram for WII:

Collaboration diagram for WII:

Public Member Functions
	WII (BTD *p, bool pair=false)

BluetoothService implementation
virtual void	ACLData (uint8_t *ACLData)

virtual void	Run ()

virtual void	Reset ()

virtual void	disconnect ()

Wii Controller functions
bool	getButtonPress (Button b)

bool	getButtonClick (Button b)

uint8_t	getAnalogHat (Hat a)

uint16_t	getAnalogHat (AnalogHat a)

double	getPitch ()

double	getRoll ()

double	getYaw ()

void	setAllOff ()

void	setRumbleOff ()

void	setRumbleOn ()

void	setRumbleToggle ()

void	setLedOff (LED a)

void	setLedOn (LED a)

void	setLedToggle (LED a)

void	setLedStatus ()

uint8_t	getBatteryLevel ()

uint8_t	getWiiState ()

Wiimote IR camera functions
You will have to uncomment WIICAMERA in Wii.h to use the IR camera.
void	IRinitialize ()

uint16_t	getIRx1 ()

uint16_t	getIRy1 ()

uint8_t	getIRs1 ()

uint16_t	getIRx2 ()

uint16_t	getIRy2 ()

uint8_t	getIRs2 ()

uint16_t	getIRx3 ()

uint16_t	getIRy3 ()

uint8_t	getIRs3 ()

uint16_t	getIRx4 ()

uint16_t	getIRy4 ()

uint8_t	getIRs4 ()

bool	isIRCameraEnabled ()

Public Attributes
double	gyroPitch

double	gyroRoll

double	gyroYaw


bool	wiimoteConnected

bool	nunchuckConnected

bool	motionPlusConnected

bool	wiiUProControllerConnected


double	wiimotePitch

double	wiimoteRoll


double	nunchuckPitch

double	nunchuckRoll


int16_t	accX

int16_t	accY

int16_t	accZ


double	pitchGyroSpeed

double	rollGyroSpeed

double	yawGyroSpeed


uint16_t	pitchGyroScale

uint16_t	rollGyroScale

uint16_t	yawGyroScale


int16_t	gyroYawRaw

int16_t	gyroRollRaw

int16_t	gyroPitchRaw


int16_t	gyroYawZero

int16_t	gyroRollZero

int16_t	gyroPitchZero

Detailed Description

This BluetoothService class implements support for the Wiimote including the Nunchuck and Motion Plus extension.

It also support the Wii U Pro Controller.

Definition at line 96 of file Wii.h.

Constructor & Destructor Documentation

WII::WII	(	BTD *	p,
		bool	pair = `false`
	)

Constructor for the WII class.

Parameters

p	Pointer to BTD class instance.
pair	Set this true to pair with the Wiimote. If the argument is omitted then it won't pair with it. One can use PAIR to set it to true.

Definition at line 86 of file Wii.cpp.

Member Function Documentation

void WII::ACLData ( uint8_t * ACLData )

virtual

Used to pass acldata to the services.

Parameters

ACLData Incoming acldata.

Reimplemented from BluetoothService.

Definition at line 125 of file Wii.cpp.

void WII::disconnect ( )

virtual

Used this to disconnect any of the controllers.

Reimplemented from BluetoothService.

Definition at line 118 of file Wii.cpp.

uint8_t WII::getAnalogHat ( Hat a )

Used to read the joystick of the Nunchuck.

Parameters

a	Either HatX or HatY.

Returns: Return the analog value in the range from approximately 25-230.

Definition at line 1024 of file Wii.cpp.

uint16_t WII::getAnalogHat ( AnalogHat a )

Used to read the joystick of the Wii U Pro Controller.

Parameters

a	Either LeftHatX, LeftHatY, RightHatX or RightHatY.

Returns: Return the analog value in the range from approximately 800-3200.

Definition at line 1035 of file Wii.cpp.

uint8_t WII::getBatteryLevel ( )

inline

Return the battery level of the Wiimote.

Returns: The barrey level in the range form 0-255.

Definition at line 201 of file Wii.h.

bool WII::getButtonClick ( Button b )

getButtonPress(Button b) will return true as long as the button is held down While getButtonClick(Button b) will only return it once So you instance if you need to increase a variable once you would use getButtonClick(Button b), but if you need to drive a robot forward you would use getButtonPress(Button b).

Definition at line 1014 of file Wii.cpp.

bool WII::getButtonPress ( Button b )

getButtonPress(Button b) will return true as long as the button is held down While getButtonClick(Button b) will only return it once So you instance if you need to increase a variable once you would use getButtonClick(Button b), but if you need to drive a robot forward you would use getButtonPress(Button b).

Definition at line 1008 of file Wii.cpp.

uint8_t WII::getIRs1 ( )

inline

IR object 1 size (0-15).

Definition at line 289 of file Wii.h.

uint8_t WII::getIRs2 ( )

inline

IR object 2 size (0-15).

Definition at line 296 of file Wii.h.

uint8_t WII::getIRs3 ( )

inline

IR object 3 size (0-15).

Definition at line 303 of file Wii.h.

uint8_t WII::getIRs4 ( )

inline

IR object 4 size (0-15).

Definition at line 310 of file Wii.h.

uint16_t WII::getIRx1 ( )

inline

IR object 1 x position (0-1023).

Definition at line 285 of file Wii.h.

uint16_t WII::getIRx2 ( )

inline

IR object 2 x position (0-1023).

Definition at line 292 of file Wii.h.

uint16_t WII::getIRx3 ( )

inline

IR object 3 x position (0-1023).

Definition at line 299 of file Wii.h.

uint16_t WII::getIRx4 ( )

inline

IR object 4 x position (0-1023).

Definition at line 306 of file Wii.h.

uint16_t WII::getIRy1 ( )

inline

IR object 1 y position (0-767).

Definition at line 287 of file Wii.h.

uint16_t WII::getIRy2 ( )

inline

IR object 2 y position (0-767).

Definition at line 294 of file Wii.h.

uint16_t WII::getIRy3 ( )

inline

IR object 3 y position (0-767).

Definition at line 301 of file Wii.h.

uint16_t WII::getIRy4 ( )

inline

IR object 4 y position (0-767).

Definition at line 308 of file Wii.h.

double WII::getPitch ( )

inline

Pitch calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.

Returns: Pitch in the range from 0-360.

Definition at line 149 of file Wii.h.

double WII::getRoll ( )

inline

Roll calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.

Returns: Roll in the range from 0-360.

Definition at line 154 of file Wii.h.

uint8_t WII::getWiiState ( )

inline

Return the Wiimote state.

Returns: See: http://wiibrew.org/wiki/Wiimote#0x20:_Status.

Definition at line 206 of file Wii.h.

double WII::getYaw ( )

inline

This is the yaw calculated by the gyro.

NOTE: This angle will drift a lot and is only available if the Motion Plus extension is connected.

Returns: The angle calculated using the gyro.

Definition at line 161 of file Wii.h.

void WII::IRinitialize ( )

Initialises the camera as per the steps from: http://wiibrew.org/wiki/Wiimote#IR_Camera

Definition at line 1052 of file Wii.cpp.

bool WII::isIRCameraEnabled ( )

inline

Use this to check if the camera is enabled or not. If not call WII::IRinitialize to initialize the IR camera.

Returns: True if it's enabled, false if not.

Definition at line 317 of file Wii.h.

void WII::Reset ( )

virtual

Use this to reset the service.

Reimplemented from BluetoothService.

Definition at line 104 of file Wii.cpp.

void WII::Run ( )

virtual

Used to run part of the state maschine.

Reimplemented from BluetoothService.

Definition at line 689 of file Wii.cpp.

void WII::setAllOff ( )

Used to set all LEDs and rumble off.

Definition at line 855 of file Wii.cpp.

void WII::setLedOff ( LED a )

Turn the specific LED off.

Parameters

a	The LED to turn off.

Definition at line 875 of file Wii.cpp.

void WII::setLedOn ( LED a )

Turn the specific LED on.

Parameters

a	The LED to turn on.

Definition at line 880 of file Wii.cpp.

void WII::setLedStatus ( )

This will set the LEDs, so the user can see which connections are active.

The first LED indicate that the Wiimote is connected,

the second LED indicate indicate that a Motion Plus is also connected

the third LED will indicate that a Nunchuck controller is also connected.

Definition at line 890 of file Wii.cpp.

void WII::setLedToggle ( LED a )

Toggle the specific LED.

Parameters

a	The LED to toggle.

Definition at line 885 of file Wii.cpp.

void WII::setRumbleOff ( )

Turn off rumble.

Definition at line 860 of file Wii.cpp.

void WII::setRumbleOn ( )

Turn on rumble.

Definition at line 865 of file Wii.cpp.

void WII::setRumbleToggle ( )

Toggle rumble.

Definition at line 870 of file Wii.cpp.

Member Data Documentation

int16_t WII::accX

Accelerometer values used to calculate pitch and roll.

Definition at line 236 of file Wii.h.

int16_t WII::accY

Accelerometer values used to calculate pitch and roll.

Definition at line 237 of file Wii.h.

int16_t WII::accZ

Accelerometer values used to calculate pitch and roll.

Definition at line 238 of file Wii.h.

double WII::gyroPitch

This is the pitch calculated by the gyro - use this to tune WII::pitchGyroScale.

Definition at line 243 of file Wii.h.

int16_t WII::gyroPitchRaw

Raw value read directly from the Motion Plus.

Definition at line 267 of file Wii.h.

int16_t WII::gyroPitchZero

These values are set when the controller is first initialized.

Definition at line 274 of file Wii.h.

double WII::gyroRoll

This is the roll calculated by the gyro - use this to tune WII::rollGyroScale.

Definition at line 245 of file Wii.h.

int16_t WII::gyroRollRaw

Raw value read directly from the Motion Plus.

Definition at line 266 of file Wii.h.

int16_t WII::gyroRollZero

These values are set when the controller is first initialized.

Definition at line 273 of file Wii.h.

double WII::gyroYaw

This is the yaw calculated by the gyro - use this to tune WII::yawGyroScale.

Definition at line 247 of file Wii.h.

int16_t WII::gyroYawRaw

Raw value read directly from the Motion Plus.

Definition at line 265 of file Wii.h.

int16_t WII::gyroYawZero

These values are set when the controller is first initialized.

Definition at line 272 of file Wii.h.

bool WII::motionPlusConnected

Variable used to indicate if a Nunchuck controller is connected.

Definition at line 215 of file Wii.h.

bool WII::nunchuckConnected

Variable used to indicate if a Nunchuck controller is connected.

Definition at line 213 of file Wii.h.

double WII::nunchuckPitch

Pitch and roll calculated from the accelerometer inside the Nunchuck.

Definition at line 230 of file Wii.h.

double WII::nunchuckRoll

Pitch and roll calculated from the accelerometer inside the Nunchuck.

Definition at line 231 of file Wii.h.

uint16_t WII::pitchGyroScale

You might need to fine-tune these values.

Definition at line 258 of file Wii.h.

double WII::pitchGyroSpeed

The speed in deg/s from the gyro.

Definition at line 251 of file Wii.h.

uint16_t WII::rollGyroScale

You might need to fine-tune these values.

Definition at line 259 of file Wii.h.

double WII::rollGyroSpeed

The speed in deg/s from the gyro.

Definition at line 252 of file Wii.h.

bool WII::wiimoteConnected

Variable used to indicate if a Wiimote is connected.

Definition at line 206 of file Wii.h.

double WII::wiimotePitch

Pitch and roll calculated from the accelerometer inside the Wiimote.

Definition at line 224 of file Wii.h.

double WII::wiimoteRoll

Pitch and roll calculated from the accelerometer inside the Wiimote.

Definition at line 225 of file Wii.h.

bool WII::wiiUProControllerConnected

Variable used to indicate if a Wii U Pro controller is connected.

Definition at line 217 of file Wii.h.

uint16_t WII::yawGyroScale

You might need to fine-tune these values.

Definition at line 260 of file Wii.h.

double WII::yawGyroSpeed

The speed in deg/s from the gyro.

Definition at line 253 of file Wii.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation