#include <wiimote_controller.h>

Public Member Functions
void	checkConnection ()

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)

void	timerCallback (const ros::TimerEvent &)

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::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::~WiimoteNode ( )

Definition at line 107 of file wiimote_controller.cpp.

Member Function Documentation

◆ calculateJoystickAxisXY()

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 1056 of file wiimote_controller.cpp.

◆ calibrateJoystick()

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

private

Definition at line 1001 of file wiimote_controller.cpp.

◆ checkConnection()

void WiimoteNode::checkConnection ( )

Definition at line 936 of file wiimote_controller.cpp.

◆ checkFactoryCalibrationData()

void WiimoteNode::checkFactoryCalibrationData ( )

private

Definition at line 185 of file wiimote_controller.cpp.

◆ getBluetoothAddr()

char * WiimoteNode::getBluetoothAddr ( )

Definition at line 139 of file wiimote_controller.cpp.

◆ getStateSample()

bool WiimoteNode::getStateSample ( )

private

Definition at line 742 of file wiimote_controller.cpp.

◆ initializeWiimoteState()

void WiimoteNode::initializeWiimoteState ( )

private

Definition at line 111 of file wiimote_controller.cpp.

◆ isCollectingClassic()

bool WiimoteNode::isCollectingClassic ( )

private

Definition at line 979 of file wiimote_controller.cpp.

◆ isCollectingMotionplus()

bool WiimoteNode::isCollectingMotionplus ( )

private

Definition at line 983 of file wiimote_controller.cpp.

◆ isCollectingNunchuk()

bool WiimoteNode::isCollectingNunchuk ( )

private

Definition at line 975 of file wiimote_controller.cpp.

◆ isCollectingWiimote()

bool WiimoteNode::isCollectingWiimote ( )

private

Definition at line 970 of file wiimote_controller.cpp.

◆ isPresentClassic()

bool WiimoteNode::isPresentClassic ( )

private

Definition at line 992 of file wiimote_controller.cpp.

◆ isPresentMotionplus()

bool WiimoteNode::isPresentMotionplus ( )

private

Definition at line 996 of file wiimote_controller.cpp.

◆ isPresentNunchuk()

bool WiimoteNode::isPresentNunchuk ( )

private

Definition at line 988 of file wiimote_controller.cpp.

◆ joySetFeedbackCallback()

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 1502 of file wiimote_controller.cpp.

◆ pairWiimote()

bool WiimoteNode::pairWiimote	(	int	flags = `0`,
		int	timeout = `5`
	)

Definition at line 148 of file wiimote_controller.cpp.

◆ publish()

void WiimoteNode::publish ( )

Definition at line 518 of file wiimote_controller.cpp.

◆ publishImuData()

void WiimoteNode::publishImuData ( )

private

Definition at line 1161 of file wiimote_controller.cpp.

◆ publishJoy()

void WiimoteNode::publishJoy ( )

private

Definition at line 1130 of file wiimote_controller.cpp.

◆ publishWiimoteClassic()

void WiimoteNode::publishWiimoteClassic ( )

private

Definition at line 1426 of file wiimote_controller.cpp.

◆ publishWiimoteNunchuk()

void WiimoteNode::publishWiimoteNunchuk ( )

private

Definition at line 1391 of file wiimote_controller.cpp.

◆ publishWiimoteNunchukCommon()

bool WiimoteNode::publishWiimoteNunchukCommon ( )

private

Definition at line 1343 of file wiimote_controller.cpp.

◆ publishWiimoteState()

void WiimoteNode::publishWiimoteState ( )

private

Definition at line 1201 of file wiimote_controller.cpp.

◆ resetClassicState()

void WiimoteNode::resetClassicState ( )

private

Definition at line 500 of file wiimote_controller.cpp.

◆ resetMotionPlusState()

void WiimoteNode::resetMotionPlusState ( )

private

Definition at line 469 of file wiimote_controller.cpp.

◆ resetNunchukState()

void WiimoteNode::resetNunchukState ( )

private

Definition at line 487 of file wiimote_controller.cpp.

◆ serviceImuCalibrateCallback()

bool WiimoteNode::serviceImuCalibrateCallback	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

private

Definition at line 1560 of file wiimote_controller.cpp.

◆ setBluetoothAddr()

void WiimoteNode::setBluetoothAddr ( const char * bt_str )

Definition at line 143 of file wiimote_controller.cpp.

◆ setLEDBit()

void WiimoteNode::setLEDBit	(	uint8_t	led,
		bool	on
	)

private

Definition at line 896 of file wiimote_controller.cpp.

◆ setLedState()

void WiimoteNode::setLedState ( uint8_t led_state )

Definition at line 928 of file wiimote_controller.cpp.

◆ setReportMode()

void WiimoteNode::setReportMode ( uint8_t rpt_mode )

private

Definition at line 875 of file wiimote_controller.cpp.

◆ setRumbleBit()

void WiimoteNode::setRumbleBit ( bool on )

private

Definition at line 916 of file wiimote_controller.cpp.

◆ setRumbleState()

void WiimoteNode::setRumbleState ( uint8_t rumble )

Definition at line 945 of file wiimote_controller.cpp.

◆ timerCallback()

void WiimoteNode::timerCallback ( const ros::TimerEvent & )

◆ unpairWiimote()

int WiimoteNode::unpairWiimote ( )

Definition at line 180 of file wiimote_controller.cpp.

◆ updateJoystickMinMax()

void WiimoteNode::updateJoystickMinMax	(	uint8_t	stick[2],
		uint8_t(&)	stick_min[2],
		uint8_t(&)	stick_max[2],
		const char *	name
	)

private

Definition at line 1020 of file wiimote_controller.cpp.

Member Data Documentation

◆ angular_velocity_covariance_

boost::array<double, 9> WiimoteNode::angular_velocity_covariance_

private

Definition at line 199 of file wiimote_controller.h.

◆ angular_velocity_stat_

StatVector3d WiimoteNode::angular_velocity_stat_

private

Definition at line 197 of file wiimote_controller.h.

◆ bt_device_addr_

bdaddr_t WiimoteNode::bt_device_addr_

private

Definition at line 144 of file wiimote_controller.h.

◆ calibration_time_

ros::Time WiimoteNode::calibration_time_

private

Definition at line 162 of file wiimote_controller.h.

◆ classic_stick_left_calibrated_

bool WiimoteNode::classic_stick_left_calibrated_

private

Definition at line 186 of file wiimote_controller.h.

◆ classic_stick_left_center_

uint8_t WiimoteNode::classic_stick_left_center_[2]

private

Definition at line 185 of file wiimote_controller.h.

◆ classic_stick_left_max_

uint8_t WiimoteNode::classic_stick_left_max_[2]

private

Definition at line 187 of file wiimote_controller.h.

◆ classic_stick_left_min_

uint8_t WiimoteNode::classic_stick_left_min_[2]

private

Definition at line 188 of file wiimote_controller.h.

◆ classic_stick_right_calibrated_

bool WiimoteNode::classic_stick_right_calibrated_

private

Definition at line 190 of file wiimote_controller.h.

◆ classic_stick_right_center_

uint8_t WiimoteNode::classic_stick_right_center_[2]

private

Definition at line 189 of file wiimote_controller.h.

◆ classic_stick_right_max_

uint8_t WiimoteNode::classic_stick_right_max_[2]

private

Definition at line 191 of file wiimote_controller.h.

◆ classic_stick_right_min_

uint8_t WiimoteNode::classic_stick_right_min_[2]

private

Definition at line 192 of file wiimote_controller.h.

◆ COVARIANCE_DATA_POINTS_

const int WiimoteNode::COVARIANCE_DATA_POINTS_ = 100

private

Definition at line 195 of file wiimote_controller.h.

◆ cwiidErrorCallback

void WiimoteNode::cwiidErrorCallback

staticprivate

Definition at line 84 of file wiimote_controller.h.

◆ EARTH_GRAVITY_

const double WiimoteNode::EARTH_GRAVITY_ = 9.80665

private

Definition at line 207 of file wiimote_controller.h.

◆ GYRO_SCALE_FACTOR_

const double WiimoteNode::GYRO_SCALE_FACTOR_ = 0.001055997

private

Definition at line 230 of file wiimote_controller.h.

◆ IGNORE_DATA_POINTS_

const int WiimoteNode::IGNORE_DATA_POINTS_ = 100

private

Definition at line 194 of file wiimote_controller.h.

◆ imu_calibrate_srv_

ros::ServiceServer WiimoteNode::imu_calibrate_srv_

private

Definition at line 141 of file wiimote_controller.h.

◆ imu_data_pub_

ros::Publisher WiimoteNode::imu_data_pub_

private

Definition at line 133 of file wiimote_controller.h.

◆ imu_is_calibrated_pub_

ros::Publisher WiimoteNode::imu_is_calibrated_pub_

private

Definition at line 137 of file wiimote_controller.h.

◆ joy_pub_

ros::Publisher WiimoteNode::joy_pub_

private

Definition at line 132 of file wiimote_controller.h.

◆ joy_set_feedback_sub_

ros::Subscriber WiimoteNode::joy_set_feedback_sub_

private

Definition at line 139 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_LEFT_20PERCENT_MAX_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_LEFT_20PERCENT_MAX_ = 50

private

Definition at line 169 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_LEFT_20PERCENT_MIN_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_LEFT_20PERCENT_MIN_ = 13

private

Definition at line 170 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_LEFT_DEFAULT_CENTER_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_LEFT_DEFAULT_CENTER_ = 31

private

Definition at line 168 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_RIGHT_20PERCENT_MAX_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_RIGHT_20PERCENT_MAX_ = 25

private

Definition at line 172 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_RIGHT_20PERCENT_MIN_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_RIGHT_20PERCENT_MIN_ = 6

private

Definition at line 173 of file wiimote_controller.h.

◆ JOYSTICK_CLASSIC_RIGHT_DEFAULT_CENTER_

const uint8_t WiimoteNode::JOYSTICK_CLASSIC_RIGHT_DEFAULT_CENTER_ = 15

private

Definition at line 171 of file wiimote_controller.h.

◆ JOYSTICK_NUNCHUK_20PERCENT_MAX_

const uint8_t WiimoteNode::JOYSTICK_NUNCHUK_20PERCENT_MAX_ = 205

private

Definition at line 166 of file wiimote_controller.h.

◆ JOYSTICK_NUNCHUK_20PERCENT_MIN_

const uint8_t WiimoteNode::JOYSTICK_NUNCHUK_20PERCENT_MIN_ = 50

private

Definition at line 167 of file wiimote_controller.h.

◆ JOYSTICK_NUNCHUK_DEFAULT_CENTER_

const uint8_t WiimoteNode::JOYSTICK_NUNCHUK_DEFAULT_CENTER_ = 127

private

Definition at line 165 of file wiimote_controller.h.

◆ led_state_

uint8_t WiimoteNode::led_state_ = 0

private

Definition at line 201 of file wiimote_controller.h.

◆ linear_acceleration_covariance_

boost::array<double, 9> WiimoteNode::linear_acceleration_covariance_

private

Definition at line 198 of file wiimote_controller.h.

◆ linear_acceleration_stat_

StatVector3d WiimoteNode::linear_acceleration_stat_

private

Definition at line 196 of file wiimote_controller.h.

◆ nh_

ros::NodeHandle WiimoteNode::nh_

private

Definition at line 82 of file wiimote_controller.h.

◆ nunchuk_cal_

struct wiimote_c::acc_cal WiimoteNode::nunchuk_cal_

private

Definition at line 176 of file wiimote_controller.h.

◆ nunchuk_calibrated_

bool WiimoteNode::nunchuk_calibrated_

private

Definition at line 177 of file wiimote_controller.h.

◆ nunchuk_failed_calibration_

bool WiimoteNode::nunchuk_failed_calibration_

private

Definition at line 178 of file wiimote_controller.h.

◆ nunchuk_stick_calibrated_

bool WiimoteNode::nunchuk_stick_calibrated_

private

Definition at line 180 of file wiimote_controller.h.

◆ nunchuk_stick_center_

uint8_t WiimoteNode::nunchuk_stick_center_[2]

private

Definition at line 179 of file wiimote_controller.h.

◆ nunchuk_stick_max_

uint8_t WiimoteNode::nunchuk_stick_max_[2]

private

Definition at line 181 of file wiimote_controller.h.

◆ nunchuk_stick_min_

uint8_t WiimoteNode::nunchuk_stick_min_[2]

private

Definition at line 182 of file wiimote_controller.h.

◆ report_mode_

uint8_t WiimoteNode::report_mode_

private

Definition at line 157 of file wiimote_controller.h.

◆ rumble_

uint8_t WiimoteNode::rumble_ = 0

private

Definition at line 202 of file wiimote_controller.h.

◆ state_nsecs_

uint32_t WiimoteNode::state_nsecs_

private

Definition at line 154 of file wiimote_controller.h.

◆ state_secs_

uint32_t WiimoteNode::state_secs_

private

Definition at line 153 of file wiimote_controller.h.

◆ wiimote_

wiimote_c::cwiid_wiimote_t* WiimoteNode::wiimote_

private

Definition at line 147 of file wiimote_controller.h.

◆ wiimote_cal_

struct wiimote_c::acc_cal WiimoteNode::wiimote_cal_

private

Definition at line 160 of file wiimote_controller.h.

◆ wiimote_calibrated_

bool WiimoteNode::wiimote_calibrated_

private

Definition at line 161 of file wiimote_controller.h.

◆ wiimote_classic_pub_

ros::Publisher WiimoteNode::wiimote_classic_pub_

private

Definition at line 136 of file wiimote_controller.h.

◆ wiimote_errors

uint64_t WiimoteNode::wiimote_errors = 0

private

Definition at line 204 of file wiimote_controller.h.

◆ wiimote_nunchuk_pub_

ros::Publisher WiimoteNode::wiimote_nunchuk_pub_

private

Definition at line 135 of file wiimote_controller.h.

◆ wiimote_state_

struct wiimote_c::cwiid_state WiimoteNode::wiimote_state_

private

Definition at line 150 of file wiimote_controller.h.

◆ wiimote_state_pub_

ros::Publisher WiimoteNode::wiimote_state_pub_

private

Definition at line 134 of file wiimote_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ WiimoteNode()

◆ ~WiimoteNode()

Member Function Documentation

◆ calculateJoystickAxisXY()

◆ calibrateJoystick()

◆ checkConnection()

◆ checkFactoryCalibrationData()

◆ getBluetoothAddr()

◆ getStateSample()

◆ initializeWiimoteState()

◆ isCollectingClassic()

◆ isCollectingMotionplus()

◆ isCollectingNunchuk()

◆ isCollectingWiimote()

◆ isPresentClassic()

◆ isPresentMotionplus()

◆ isPresentNunchuk()

◆ joySetFeedbackCallback()

◆ pairWiimote()

◆ publish()

◆ publishImuData()

◆ publishJoy()

◆ publishWiimoteClassic()

◆ publishWiimoteNunchuk()

◆ publishWiimoteNunchukCommon()

◆ publishWiimoteState()

◆ resetClassicState()

◆ resetMotionPlusState()

◆ resetNunchukState()

◆ serviceImuCalibrateCallback()

◆ setBluetoothAddr()

◆ setLEDBit()

◆ setLedState()

◆ setReportMode()

◆ setRumbleBit()

◆ setRumbleState()

◆ timerCallback()

◆ unpairWiimote()

◆ updateJoystickMinMax()

Member Data Documentation

◆ angular_velocity_covariance_

◆ angular_velocity_stat_

◆ bt_device_addr_

◆ calibration_time_

◆ classic_stick_left_calibrated_

◆ classic_stick_left_center_

◆ classic_stick_left_max_

◆ classic_stick_left_min_

◆ classic_stick_right_calibrated_

◆ classic_stick_right_center_

◆ classic_stick_right_max_

◆ classic_stick_right_min_

◆ COVARIANCE_DATA_POINTS_

◆ cwiidErrorCallback

◆ EARTH_GRAVITY_

◆ GYRO_SCALE_FACTOR_

◆ IGNORE_DATA_POINTS_

◆ imu_calibrate_srv_

◆ imu_data_pub_

◆ imu_is_calibrated_pub_

◆ joy_pub_

◆ joy_set_feedback_sub_

◆ JOYSTICK_CLASSIC_LEFT_20PERCENT_MAX_

◆ JOYSTICK_CLASSIC_LEFT_20PERCENT_MIN_

◆ JOYSTICK_CLASSIC_LEFT_DEFAULT_CENTER_

◆ JOYSTICK_CLASSIC_RIGHT_20PERCENT_MAX_

◆ JOYSTICK_CLASSIC_RIGHT_20PERCENT_MIN_

◆ JOYSTICK_CLASSIC_RIGHT_DEFAULT_CENTER_

◆ JOYSTICK_NUNCHUK_20PERCENT_MAX_

◆ JOYSTICK_NUNCHUK_20PERCENT_MIN_

◆ JOYSTICK_NUNCHUK_DEFAULT_CENTER_

◆ led_state_

◆ linear_acceleration_covariance_

◆ linear_acceleration_stat_