Public Member Functions
def	__init__
def	computeAccStatistics
def	computeGyroStatistics
def	getAccelerometerCalibration
def	getAccFactoryCalibrationSettings
def	getBattery
def	getGyroCalibration
def	getLEDs
def	getMeanAccelerator
def	getMeanGyro
def	getNunchukFactoryCalibrationSettings
def	getRumble
def	getStdevAccelerator
def	getStdevGyro
def	getVarianceAccelerator
def	getVarianceGyro
def	getWiimoteState
def	motionPlusPresent
def	nunchukPresent
def	printState
def	setAccelerometerCalibration
def	setAccelerometerCalibration
def	setGyroCalibration
def	setLEDs
def	setNunchukAccelerometerCalibration
def	setRumble
def	shutdown
def	zeroDevice
Public Attributes
	calibrationSamples
	gatherCalibrationStats
	lastZeroingTime
	latestCalibrationSuccessful
	maxAccReading
	maxGyroReading
	meanAcc
	meanAccMetric
	meanGyro
	meanGyroMetric
	sampleRate
	stdevAcc
	stdevAccMetric
	stdevGyro
	stdevGyroMetric
	varAcc
	varGyroMetric
	wiiMoteState
	wiiStateLock
Static Public Attributes
	BATTERY_MAX = cwiid.BATTERY_MAX
Private Member Functions
def	_calibrationCallback
def	_getInstanceVarCriticalSection
def	_steadyStateCallback
Private Attributes
	_warmupCnt
Static Private Attributes
	_accList = None
	_accNormal = None
	_accTotal = None
	_gyroList = None
	_gyroNormal = None
	_gyroTotal = None
list	_LEDMasksOff
list	_LEDMasksOn = [LED1_ON, LED2_ON, LED3_ON, LED4_ON]
	_nunchukJoyOrig = None
	_readingsCnt = None
	_startTime = None
	_wiiCallbackStack = None
	_wm = None

Detailed Description

Main class for Wiimote device interaction.

This class should be a singleton, or it should have
only class members/methods.

Public Data attributes:
    wiiMoteState   WIIState object that holds the latest sampled state
    sampleRate     Control Wiimote state samples to take per second
    meanAcc        Triplet with mean of accelerator at rest
    stdevAcc       Triplet with standard deviation of accelerator at rest
    meanGyro       Triplet with mean of gyro (angular rate) at rest
    stdevGyro      Triplet with standard deviation gyro (angular rate) at rest
    
Public Methods:

Definition at line 77 of file WIIMote.py.

Constructor & Destructor Documentation

def WIIMote.WIIMote.__init__	(	self,
		theSampleRate = `0`,
		wiiStateLock = `None`,
		gatherCalibrationStats = `False`
	)

Instantiate a Wiimote driver instance, which controls one physical Wiimote device.

Parameters:
theSampleRate: How often to update the instance's wiiMoteState variable:
    theSampleRate= -1: never
    theSampleRate=  0: as often as possible
    theSampleRate=  x: every x seconds

Definition at line 135 of file WIIMote.py.

Member Function Documentation

def WIIMote.WIIMote._calibrationCallback	(	self,
		state,
		theTime
	)	`[private]`

Wii's callback destination while zeroing the device.

Definition at line 267 of file WIIMote.py.

def WIIMote.WIIMote._getInstanceVarCriticalSection	(	self,
		varName
	)	`[private]`

Return the value of the given instance variable, providing locking service.

Definition at line 514 of file WIIMote.py.

def WIIMote.WIIMote._steadyStateCallback	(	self,
		state,
		theTime
	)	`[private]`

Definition at line 242 of file WIIMote.py.

def WIIMote.WIIMote.computeAccStatistics ( self )

Compute mean and stdev for accelerometer data list self._accList in both Gs and metric m/sec^2

Definition at line 759 of file WIIMote.py.

def WIIMote.WIIMote.computeGyroStatistics ( self )

Compute mean and stdev for gyro data list self._gyroList in both Gs and metric m/sec^2

Definition at line 788 of file WIIMote.py.

def WIIMote.WIIMote.getAccelerometerCalibration ( self )

Returns currently operative accelerometer calibration.

Return value: tuple with calibration for zero reading, and
calibration or a '1' reading.

Definition at line 646 of file WIIMote.py.

def WIIMote.WIIMote.getAccFactoryCalibrationSettings ( self )

Obtain calibration data from accelerometer.

Retrieve factory-installed calibration data for
the Wiimote's accelerometer. Returns a two-tuple
with the calibration numbers for zero and one:

Definition at line 658 of file WIIMote.py.

def WIIMote.WIIMote.getBattery ( self )

Obtain battery state from Wiimote.

Maximum charge is BATTERY_MAX.

Definition at line 634 of file WIIMote.py.

def WIIMote.WIIMote.getGyroCalibration ( self )

Return current Gyro zeroing offsets as list x/y/z.

Definition at line 703 of file WIIMote.py.

def WIIMote.WIIMote.getLEDs	(	self,
		asInt = `False`
	)

Get the status of the four Wii LEDs.

Return value depends on the asInt parameter:
if asInt=False, the method returns a 4-tuple. 
  Each entry is either True or False. True indicates
  that the respective LED is on; False means off.
If asInt=True, return value is a bit vector
  indicating which LEDs are on.

Definition at line 592 of file WIIMote.py.

def WIIMote.WIIMote.getMeanAccelerator ( self )

Accessor that provides locking.

Definition at line 459 of file WIIMote.py.

def WIIMote.WIIMote.getMeanGyro ( self )

Accessor that provides locking.

Definition at line 486 of file WIIMote.py.

def WIIMote.WIIMote.getNunchukFactoryCalibrationSettings ( self )

Obtain calibration data from nunchuk accelerometer.

Retrieve factory-installed calibration data for
the Nunchuk's accelerometer. Returns a two-tuple
with the calibration numbers for zero and one:

Definition at line 678 of file WIIMote.py.

def WIIMote.WIIMote.getRumble ( self )

Definition at line 554 of file WIIMote.py.

def WIIMote.WIIMote.getStdevAccelerator ( self )

Accessor that provides locking.

Definition at line 468 of file WIIMote.py.

def WIIMote.WIIMote.getStdevGyro ( self )

Accessor that provides locking.

Definition at line 495 of file WIIMote.py.

def WIIMote.WIIMote.getVarianceAccelerator ( self )

Accessor that provides locking.

Definition at line 477 of file WIIMote.py.

def WIIMote.WIIMote.getVarianceGyro ( self )

Accessor that provides locking.

Definition at line 504 of file WIIMote.py.

def WIIMote.WIIMote.getWiimoteState ( self )

Returns the most recent Wiistate instance. Provides proper locking.

Definition at line 450 of file WIIMote.py.

def WIIMote.WIIMote.motionPlusPresent ( self )

Return True/False to indicate whether a Wiimotion Plus is detected.

Note: The return value is accurate only after at least one 
Wiimote state has been read. This means that either 
_steadyStateCallback or _calibrationCallback must have
run at least once.

Definition at line 725 of file WIIMote.py.

def WIIMote.WIIMote.nunchukPresent ( self )

Return True/False to indicate whether a Nunchuk is detected.

Note: The return value is accurate only after at least one 
Wiimote state has been read. This means that either 
_steadyStateCallback or _calibrationCallback must have
run at least once.

Definition at line 742 of file WIIMote.py.

def WIIMote.WIIMote.printState ( self )

Definition at line 812 of file WIIMote.py.

def WIIMote.WIIMote.setAccelerometerCalibration	(	self,
		zeroReadingList,
		oneReadingList
	)

Definition at line 693 of file WIIMote.py.

def WIIMote.WIIMote.setAccelerometerCalibration	(	self,
		zeroReadingNPArray,
		oneReadingNPArray
	)

Definition at line 696 of file WIIMote.py.

def WIIMote.WIIMote.setGyroCalibration	(	self,
		gyroTriplet
	)

Definition at line 711 of file WIIMote.py.

def WIIMote.WIIMote.setLEDs	(	self,
		statusList
	)

Set the four Wii LEDs according to statusList

statusList must be a 4-tuple. Each entry
is either True/1, False/0, or None. True (or 1) 
will turn the respective LED on; False (or 0) 
turns it off, and None leaves the state unchanged.

Definition at line 566 of file WIIMote.py.

def WIIMote.WIIMote.setNunchukAccelerometerCalibration	(	self,
		zeroReadingList,
		oneReadingList
	)

Definition at line 718 of file WIIMote.py.

def WIIMote.WIIMote.setRumble	(	self,
		switchPos
	)

Start of stop rumble (i.e. vibration). 1: start; 0: stop

Definition at line 545 of file WIIMote.py.

def WIIMote.WIIMote.shutdown ( self )

Definition at line 820 of file WIIMote.py.

def WIIMote.WIIMote.zeroDevice ( self )

Find the at-rest values of the accelerometer and the gyro.

Collect NUM_ZEROING_READINGS readings of acc and gyro. Average them.
If the standard deviation of any of the six axes exceeds a threshold
that was determined empirically, then the calibration fails. Else
the gyro is biased to compensate for its at-rest offset. The offset
is the abs(mean(Gyro)).

The stdev thresholds are documented in wiimoteConstants.py.

Note that we always use the Wiimote's factory-installed zeroing data.
In the code below we nonetheless compute the stats for the 
accelerometer, in case this behavior is to change in the future.

We sleep while the samples are taken. In order to prevent other
threads from reading bad values for mean/stdev, and variance, 
we lock access to those vars.

Definition at line 302 of file WIIMote.py.

Member Data Documentation

WIIMote.WIIMote::_accList = None [static, private]

Definition at line 112 of file WIIMote.py.

WIIMote.WIIMote::_accNormal = None [static, private]

Definition at line 119 of file WIIMote.py.

WIIMote.WIIMote::_accTotal = None [static, private]

Definition at line 115 of file WIIMote.py.

WIIMote.WIIMote::_gyroList = None [static, private]

Definition at line 113 of file WIIMote.py.

WIIMote.WIIMote::_gyroNormal = None [static, private]

Definition at line 120 of file WIIMote.py.

WIIMote.WIIMote::_gyroTotal = None [static, private]

Definition at line 116 of file WIIMote.py.

list WIIMote.WIIMote::_LEDMasksOff [static, private]

Initial value:

[0 | LED2_ON | LED3_ON | LED4_ON, # AND to turn off
                  0 | LED1_ON | LED3_ON | LED4_ON,
                  0 | LED1_ON | LED2_ON | LED4_ON,
                  0 | LED1_ON | LED2_ON | LED3_ON]

Definition at line 125 of file WIIMote.py.

list WIIMote.WIIMote::_LEDMasksOn = [LED1_ON, LED2_ON, LED3_ON, LED4_ON] [static, private]

Definition at line 124 of file WIIMote.py.

WIIMote.WIIMote::_nunchukJoyOrig = None [static, private]

Definition at line 122 of file WIIMote.py.

WIIMote.WIIMote::_readingsCnt = None [static, private]

Definition at line 114 of file WIIMote.py.

WIIMote.WIIMote::_startTime = None [static, private]

Definition at line 111 of file WIIMote.py.

WIIMote.WIIMote::_warmupCnt [private]

Definition at line 319 of file WIIMote.py.

WIIMote.WIIMote::_wiiCallbackStack = None [static, private]