#include <wiimote_controller.h>

Public Member Functions
char *	getBluetoothAddr ()
bool	pairWiimote (int flags, int timeout)
void	publish ()
void	setBluetoothAddr (const char *bt_str)
void	setLedState (uint8_t led_state)
void	setRumbleState (uint8_t rumble)
int	unpairWiimote ()
	WiimoteNode ()
	~WiimoteNode ()
Private Member Functions
void	calculateJoystickAxisXY (uint8_t stick_current[2], uint8_t stick_min[2], uint8_t stick_max[2], uint8_t stick_center[2], double(&stick)[2])
bool	calibrateJoystick (uint8_t stick[2], uint8_t(&center)[2], const char *name)
void	checkFactoryCalibrationData ()
bool	getStateSample ()
void	initializeWiimoteState ()
bool	isCollectingClassic ()
bool	isCollectingMotionplus ()
bool	isCollectingNunchuk ()
bool	isCollectingWiimote ()
bool	isPresentClassic ()
bool	isPresentMotionplus ()
bool	isPresentNunchuk ()
void	joySetFeedbackCallback (const sensor_msgs::JoyFeedbackArray::ConstPtr &feedback)
void	publishImuData ()
void	publishJoy ()
void	publishWiimoteClassic ()
void	publishWiimoteNunchuk ()
bool	publishWiimoteNunchukCommon ()
void	publishWiimoteState ()
void	resetClassicState ()
void	resetMotionPlusState ()
void	resetNunchukState ()
bool	serviceImuCalibrateCallback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
void	setLEDBit (uint8_t led, bool on)
void	setReportMode (uint8_t rpt_mode)
void	setRumbleBit (bool on)
void	updateJoystickMinMax (uint8_t stick[2], uint8_t(&stick_min)[2], uint8_t(&stick_max)[2], const char *name)
Private Attributes
boost::array< double, 9 >	angular_velocity_covariance_
StatVector3d	angular_velocity_stat_
bdaddr_t	bt_device_addr_
ros::Time	calibration_time_
bool	classic_stick_left_calibrated_
uint8_t	classic_stick_left_center_ [2]
uint8_t	classic_stick_left_max_ [2]
uint8_t	classic_stick_left_min_ [2]
bool	classic_stick_right_calibrated_
uint8_t	classic_stick_right_center_ [2]
uint8_t	classic_stick_right_max_ [2]
uint8_t	classic_stick_right_min_ [2]
const int	COVARIANCE_DATA_POINTS_ = 100
const double	EARTH_GRAVITY_ = 9.80665
const double	GYRO_SCALE_FACTOR_ = 0.001055997
const int	IGNORE_DATA_POINTS_ = 100
ros::ServiceServer	imu_calibrate_srv_
ros::Publisher	imu_data_pub_
ros::Publisher	imu_is_calibrated_pub_
ros::Publisher	joy_pub_
ros::Subscriber	joy_set_feedback_sub_
const uint8_t	JOYSTICK_CLASSIC_LEFT_20PERCENT_MAX_ = 50
const uint8_t	JOYSTICK_CLASSIC_LEFT_20PERCENT_MIN_ = 13
const uint8_t	JOYSTICK_CLASSIC_LEFT_DEFAULT_CENTER_ = 31
const uint8_t	JOYSTICK_CLASSIC_RIGHT_20PERCENT_MAX_ = 25
const uint8_t	JOYSTICK_CLASSIC_RIGHT_20PERCENT_MIN_ = 6
const uint8_t	JOYSTICK_CLASSIC_RIGHT_DEFAULT_CENTER_ = 15
const uint8_t	JOYSTICK_NUNCHUK_20PERCENT_MAX_ = 205
const uint8_t	JOYSTICK_NUNCHUK_20PERCENT_MIN_ = 50
const uint8_t	JOYSTICK_NUNCHUK_DEFAULT_CENTER_ = 127
uint8_t	led_state_ = 0
boost::array< double, 9 >	linear_acceleration_covariance_
StatVector3d	linear_acceleration_stat_
ros::NodeHandle	nh_
struct wiimote_c::acc_cal	nunchuk_cal_
bool	nunchuk_calibrated_
bool	nunchuk_failed_calibration_
bool	nunchuk_stick_calibrated_
uint8_t	nunchuk_stick_center_ [2]
uint8_t	nunchuk_stick_max_ [2]
uint8_t	nunchuk_stick_min_ [2]
uint8_t	report_mode_
uint8_t	rumble_ = 0
uint32_t	state_nsecs_
uint32_t	state_secs_
wiimote_c::cwiid_wiimote_t *	wiimote_
struct wiimote_c::acc_cal	wiimote_cal_
bool	wiimote_calibrated_
ros::Publisher	wiimote_classic_pub_
uint64_t	wiimote_errors = 0
ros::Publisher	wiimote_nunchuk_pub_
struct wiimote_c::cwiid_state	wiimote_state_
ros::Publisher	wiimote_state_pub_
Static Private Attributes
static wiimote_c::cwiid_err_t	cwiidErrorCallback

Detailed Description

Definition at line 58 of file wiimote_controller.h.

Constructor & Destructor Documentation

WiimoteNode::WiimoteNode ( )

Optional Publications -- only advertise if the hardware is connected This is done in the main loop in the ::publish method wiimote_nunchuk_pub_ = nh_.advertise<sensor_msgs::Joy>("/wiimote/nunchuk", 1); wiimote_classic_pub_ = nh_.advertise<sensor_msgs::Joy>("/wiimote/classic", 1);

Definition at line 66 of file wiimote_controller.cpp.

WiimoteNode::~WiimoteNode ( )

Definition at line 107 of file wiimote_controller.cpp.

Member Function Documentation

void WiimoteNode::calculateJoystickAxisXY	(	uint8_t	stick_current[2],
		uint8_t	stick_min[2],
		uint8_t	stick_max[2],
		uint8_t	stick_center[2],
		double(&)	stick[2]
	)		`[private]`

Definition at line 1047 of file wiimote_controller.cpp.

bool WiimoteNode::calibrateJoystick	(	uint8_t	stick[2],
		uint8_t(&)	center[2],
		const char *	name
	)		`[private]`

Definition at line 992 of file wiimote_controller.cpp.

void WiimoteNode::checkFactoryCalibrationData ( ) [private]

Definition at line 185 of file wiimote_controller.cpp.

char * WiimoteNode::getBluetoothAddr ( )

Definition at line 139 of file wiimote_controller.cpp.

bool WiimoteNode::getStateSample ( ) [private]

Definition at line 742 of file wiimote_controller.cpp.

void WiimoteNode::initializeWiimoteState ( ) [private]

Definition at line 111 of file wiimote_controller.cpp.

bool WiimoteNode::isCollectingClassic ( ) [private]

Definition at line 970 of file wiimote_controller.cpp.

bool WiimoteNode::isCollectingMotionplus ( ) [private]

Definition at line 974 of file wiimote_controller.cpp.

bool WiimoteNode::isCollectingNunchuk ( ) [private]

Definition at line 966 of file wiimote_controller.cpp.

bool WiimoteNode::isCollectingWiimote ( ) [private]

Definition at line 961 of file wiimote_controller.cpp.

bool WiimoteNode::isPresentClassic ( ) [private]

Definition at line 983 of file wiimote_controller.cpp.

bool WiimoteNode::isPresentMotionplus ( ) [private]

Definition at line 987 of file wiimote_controller.cpp.

bool WiimoteNode::isPresentNunchuk ( ) [private]

Definition at line 979 of file wiimote_controller.cpp.

void WiimoteNode::joySetFeedbackCallback ( const sensor_msgs::JoyFeedbackArray::ConstPtr & feedback ) [private]

Node [/wiimote_controller] Publications: /joy [sensor_msgs/Joy] /wiimote/state [wiimote/State] /wiimote/nunchuk [sensor_msgs/Joy] /wiimote/classic [sensor_msgs/Joy] /imu/is_calibrated [std_msgs/Bool] /imu/data [sensor_msgs/Imu]

Subscriptions: /joy/set_feedback [sensor_msgs/JoyFeedbackArray]

Services: /imu/calibrate

Definition at line 1493 of file wiimote_controller.cpp.