wiimoteConstants.py

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# ###############################################################################
#
# File:         wiimoteConstants.py
# RCS:          $Header: $
# Description:  Constants for Wii Arm Control
# Author:       Andreas Paepcke
# Created:      Thu Aug 13 11:44:04 2009 (Andreas Paepcke) paepcke@anw.willowgarage.com
# Modified:     Thu Jan 13 13:44:31 2011 (Andreas Paepcke) paepcke@bhb.willowgarage.com
# Language:     Python
# Package:      N/A
# Status:       Experimental (Do Not Distribute)
#
# ###############################################################################
#
# Revisions:
#
# Thu Mar 18 10:56:09 2010 (David Lu) davidlu@wustl.edu
#  Added nunchuk options
# Fri Oct 29 08:58:21 2010 (Miguel Angel Julian Aguilar, QBO Project) miguel.angel@thecorpora.com
#  Added classic controller options
# ###############################################################################

import numpy as np

_DEBUGLEVEL = 1
_MONITOR_LEVEL = 1

# Control over calibration:
# Number of readings to take for zeroing acc and gyro
NUM_ZEROING_READINGS = 100
# Number of readings to throw away initially so that
# the gyro starts providing data for calibration
NUM_WARMUP_READINGS = 100

# Number of standard deviations that accelerator or
# gyro measurements need to be beyond the mean (axis
# by axis) to be considered an outlier:
OUTLIER_STDEV_MULTIPLE = 3

# Whether to calibrate the Wiimote even when
# the calibration process was less than perfect:
CALIBRATE_WITH_FAILED_CALIBRATION_DATA = False

# TimedSwitch message field value constants:
SWITCH_ON = 1
SWITCH_OFF = 0
SWITCH_PULSE_PATTERN = -1

# Output indicators on the Wiimote:
RUMBLE = 1
LED = 2

# Buttons in cwiid structure:
BTN_1 = 0x0002                  # cwiid.CWIID_BTN_1
BTN_2 = 0x0001                  # cwiid.CWIID_BTN_2
BTN_B = 0x0004                  # cwiid.CWIID_BTN_B
BTN_A = 0x0008                  # cwiid.CWIID_BTN_A
BTN_MINUS = 0x0010              # cwiid.CWIID_BTN_MINUS
BTN_PLUS = 0x1000               # cwiid.CWIID_BTN_PLUS
BTN_LEFT = 0x0100               # cwiid.CWIID_BTN_LEFT
BTN_RIGHT = 0x0200              # cwiid.CWIID_BTN_RIGHT
BTN_DOWN = 0x0400               # cwiid.CWIID_BTN_DOWN
BTN_UP = 0x0800                 # cwiid.CWIID_BTN_UP
BTN_HOME = 0x0080               # cwiid.CWIID_BTN_HOME

# nunchuk Buttons
BTN_C = 0x0002
BTN_Z = 0x0001

# Classic Controller Buttons
CLASSIC_BTN_UP = 0x0001
CLASSIC_BTN_LEFT = 0x0002
CLASSIC_BTN_ZR = 0x0004
CLASSIC_BTN_X = 0x0008
CLASSIC_BTN_A = 0x0010
CLASSIC_BTN_Y = 0x0020
CLASSIC_BTN_B = 0x0040
CLASSIC_BTN_ZL = 0x0080
CLASSIC_BTN_R = 0x0200
CLASSIC_BTN_PLUS = 0x0400
CLASSIC_BTN_HOME = 0x0800
CLASSIC_BTN_MINUS = 0x1000
CLASSIC_BTN_L = 0x2000
CLASSIC_BTN_DOWN = 0x4000
CLASSIC_BTN_RIGHT = 0x8000

X = 0
Y = 1
Z = 2

PHI = 0
THETA = 1
PSI = 2

X_COORD = 'x'
Y_COORD = 'y'
Z_COORD = 'z'
NORM_X = 'normX'
NORM_Y = 'normY'
NORM_Z = 'normZ'

NUM_IR_SENSORS = 4
IR1 = 'ir1'
IR2 = 'ir2'
IR3 = 'ir3'
IR4 = 'ir4'

NUM_LEDS = 4
LED1_ON = 0x01
LED2_ON = 0x02
LED3_ON = 0x04
LED4_ON = 0x08

# Indices into a two-tuple of info about battery state
# in wiimote messages:
#   0: Percentage of battery left.
#   1: The raw battery reading
BATTERY_PERCENTAGE = 0
BATTERY_RAW = 1

# Turning wiimote accelerator readings from g's to m/sec^2:
EARTH_GRAVITY = 9.80665             # m/sec^2

# Turning wiimote gyro readings to radians/sec.
# This scale factor is highly approximate. Procedure:
#    - Tape Wiimote to center of an office chair seat
#    - Rotate the chair at approximately constant speed
#      for 10 seconds. This resulted in 6 chair revolutions
#    - On average, the Wiimote gyro read 3570 during this
#      experiment.
#    - Speed of chair revolving:
#         * One full circle is: 2#pi radians
#         * Six revolutions = 12pi radians. ==> 12pi rad in 10 sec ==> 1.2pi rad/sec
#         * => 3570 == 1.2pi
#         * => x*3570 = 1.2pi
#         * => x = 1.2pi/3570 (1.2pi = 3.769908)
#         * => scale factor = 0.001055997
# So multiplying the gyro readings by this factor
# calibrates the readings to show angular velocity
# in radians/sec.
GYRO_SCALE_FACTOR = 0.001055997

# Status type of message from Wii to us:
WII_MSG_TYPE_STATUS = 0
WII_MSG_TYPE_BTN = 1
WII_MSG_TYPE_ACC = 2
WII_MSG_TYPE_IR = 3
WII_MSG_TYPE_NUNCHUK = 4
WII_MSG_TYPE_CLASSIC = 5
WII_MSG_TYPE_MOTIONPLUS = 7  # Gyro
WII_MSG_TYPE_ERROR = 8
WII_MSG_TYPE_UNKNOWN = 9

ACC_X_STDEV_THRESHOLD = 1.0
ACC_Y_STDEV_THRESHOLD = 1.0
ACC_Z_STDEV_THRESHOLD = 1.0

GYRO_X_STDEV_THRESHOLD = 50.0
GYRO_Y_STDEV_THRESHOLD = 50.0
GYRO_Z_STDEV_THRESHOLD = 50.0

THRESHOLDS_ARRAY = np.array([
  ACC_X_STDEV_THRESHOLD,
  ACC_Y_STDEV_THRESHOLD,
  ACC_Z_STDEV_THRESHOLD,
  GYRO_X_STDEV_THRESHOLD,
  GYRO_Y_STDEV_THRESHOLD,
  GYRO_Z_STDEV_THRESHOLD
])