#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)

void	pair (void)

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	setLedRaw (uint8_t value)

void	setLedOff (LED a)

void	setLedOn (LED a)

void	setLedToggle (LED a)

void	setLedStatus ()

uint8_t	getBatteryLevel ()

uint8_t	getWiiState ()

void	attachOnInit (void(*funcOnInit)(void))


double	getWiimotePitch ()

double	getWiimoteRoll ()


double	getNunchuckPitch ()

double	getNunchuckRoll ()

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


int16_t	accXwiimote

int16_t	accYwiimote

int16_t	accZwiimote

int16_t	accXnunchuck

int16_t	accYnunchuck

int16_t	accZnunchuck


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 94 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 to true in order 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 84 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 134 of file Wii.cpp.

void WII::Run ( )

virtual

Used to run part of the state maschine.

Reimplemented from BluetoothService.

Definition at line 682 of file Wii.cpp.

void WII::Reset ( )

virtual

Use this to reset the service.

Reimplemented from BluetoothService.

Definition at line 103 of file Wii.cpp.

void WII::disconnect ( )

virtual

Used this to disconnect any of the controllers.

Reimplemented from BluetoothService.

Definition at line 117 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 1034 of file Wii.cpp.

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 1041 of file Wii.cpp.

void WII::pair ( void )

inline

Call this to start the paring sequence with a controller

Definition at line 133 of file Wii.h.

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 1052 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 1064 of file Wii.cpp.

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 154 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 164 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 176 of file Wii.h.

void WII::setAllOff ( )

Used to set all LEDs and rumble off.

Definition at line 852 of file Wii.cpp.

void WII::setRumbleOff ( )

Turn off rumble.

Definition at line 858 of file Wii.cpp.

void WII::setRumbleOn ( )

Turn on rumble.

Definition at line 864 of file Wii.cpp.

void WII::setRumbleToggle ( )

Toggle rumble.

Definition at line 870 of file Wii.cpp.

void WII::setLedRaw ( uint8_t value )

Set LED value without using the LED enum.

Parameters

value See: LED enum.

Definition at line 876 of file Wii.cpp.

void WII::setLedOff ( LED a )

Turn the specific LED off.

Parameters

a	The LED to turn off.

Definition at line 881 of file Wii.cpp.

void WII::setLedOn ( LED a )

Turn the specific LED on.

Parameters

a	The LED to turn on.

Definition at line 887 of file Wii.cpp.

void WII::setLedToggle ( LED a )

Toggle the specific LED.

Parameters

a	The LED to toggle.

Definition at line 893 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 899 of file Wii.cpp.

uint8_t WII::getBatteryLevel ( )

Return the battery level of the Wiimote.

Returns: The battery level in the range 0-255.

Definition at line 912 of file Wii.cpp.

uint8_t WII::getWiiState ( )

inline

Return the Wiimote state.

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

Definition at line 229 of file Wii.h.

void WII::attachOnInit ( void(*)(void) funcOnInit )

inline

Used to call your own function when the controller is successfully initialized.

Parameters

funcOnInit Function to call.

Definition at line 237 of file Wii.h.

double WII::getWiimotePitch ( )

inline

Pitch and roll calculated from the accelerometer inside the Wiimote.

Definition at line 257 of file Wii.h.

double WII::getWiimoteRoll ( )

inline

Pitch and roll calculated from the accelerometer inside the Wiimote.

Definition at line 260 of file Wii.h.

double WII::getNunchuckPitch ( )

inline

Pitch and roll calculated from the accelerometer inside the Nunchuck.

Definition at line 267 of file Wii.h.

double WII::getNunchuckRoll ( )

inline

Pitch and roll calculated from the accelerometer inside the Nunchuck.

Definition at line 270 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 1089 of file Wii.cpp.

uint16_t WII::getIRx1 ( )

inline

IR object 1 x-position read from the Wii IR camera.

Returns: The x-position of the object in the range 0-1023.

Definition at line 328 of file Wii.h.

uint16_t WII::getIRy1 ( )

inline

IR object 1 y-position read from the Wii IR camera.

Returns: The y-position of the object in the range 0-767.

Definition at line 336 of file Wii.h.

uint8_t WII::getIRs1 ( )

inline

IR object 1 size read from the Wii IR camera.

Returns: The size of the object in the range 0-15.

Definition at line 344 of file Wii.h.

uint16_t WII::getIRx2 ( )

inline

IR object 2 x-position read from the Wii IR camera.

Returns: The x-position of the object in the range 0-1023.

Definition at line 352 of file Wii.h.

uint16_t WII::getIRy2 ( )

inline

IR object 2 y-position read from the Wii IR camera.

Returns: The y-position of the object in the range 0-767.

Definition at line 360 of file Wii.h.

uint8_t WII::getIRs2 ( )

inline

IR object 2 size read from the Wii IR camera.

Returns: The size of the object in the range 0-15.

Definition at line 368 of file Wii.h.

uint16_t WII::getIRx3 ( )

inline

IR object 3 x-position read from the Wii IR camera.

Returns: The x-position of the object in the range 0-1023.

Definition at line 376 of file Wii.h.

uint16_t WII::getIRy3 ( )

inline

IR object 3 y-position read from the Wii IR camera.

Returns: The y-position of the object in the range 0-767.

Definition at line 384 of file Wii.h.

uint8_t WII::getIRs3 ( )

inline

IR object 3 size read from the Wii IR camera.

Returns: The size of the object in the range 0-15.

Definition at line 392 of file Wii.h.

uint16_t WII::getIRx4 ( )

inline

IR object 4 x-position read from the Wii IR camera.

Returns: The x-position of the object in the range 0-1023.

Definition at line 400 of file Wii.h.

uint16_t WII::getIRy4 ( )

inline

IR object 4 y-position read from the Wii IR camera.

Returns: The y-position of the object in the range 0-767.

Definition at line 408 of file Wii.h.

uint8_t WII::getIRs4 ( )

inline

IR object 4 size read from the Wii IR camera.

Returns: The size of the object in the range 0-15.

Definition at line 416 of file Wii.h.

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 425 of file Wii.h.

Member Data Documentation

bool WII::wiimoteConnected

Variable used to indicate if a Wiimote is connected.

Definition at line 239 of file Wii.h.

bool WII::nunchuckConnected

Variable used to indicate if a Nunchuck controller is connected.

Definition at line 246 of file Wii.h.

bool WII::motionPlusConnected

Variable used to indicate if a Nunchuck controller is connected.

Definition at line 248 of file Wii.h.

bool WII::wiiUProControllerConnected

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

Definition at line 250 of file Wii.h.

int16_t WII::accXwiimote