wiimoteConstants.py
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00001 ################################################################################
00002 #
00003 # File:         wiimoteConstants.py
00004 # RCS:          $Header: $
00005 # Description:  Constants for Wii Arm Control
00006 # Author:       Andreas Paepcke
00007 # Created:      Thu Aug 13 11:44:04 2009 (Andreas Paepcke) paepcke@anw.willowgarage.com
00008 # Modified:     Thu Jan 13 13:44:31 2011 (Andreas Paepcke) paepcke@bhb.willowgarage.com
00009 # Language:     Python
00010 # Package:      N/A
00011 # Status:       Experimental (Do Not Distribute)
00012 #
00013 # #
00014 ################################################################################
00015 #
00016 # Revisions:
00017 #
00018 # Thu Mar 18 10:56:09 2010 (David Lu) davidlu@wustl.edu
00019 #  Added nunchuk options
00020 # Fri Oct 29 08:58:21 2010 (Miguel Angel Julian Aguilar, QBO Project) miguel.angel@thecorpora.com
00021 #  Added classic controller options
00022 ################################################################################
00023 
00024 _DEBUGLEVEL = 1
00025 _MONITOR_LEVEL = 1
00026 
00027 import numpy as np
00028 
00029 # Control over calibration:
00030 NUM_ZEROING_READINGS = 100 # Number of readings to take for zeroing acc and gyro
00031 NUM_WARMUP_READINGS =  100 # Number of readings to throw away initially so that
00032                             # the gyro starts providing data for calibration
00033 
00034 # Number of standard deviations that accelerator or
00035 # gyro measurements need to be beyond the mean (axis
00036 # by axis) to be considered an outlier:
00037 
00038 OUTLIER_STDEV_MULTIPLE = 3
00039 
00040 # Whether to calibrate the Wiimote even when
00041 # the calibration process was less than perfect:
00042 
00043 CALIBRATE_WITH_FAILED_CALIBRATION_DATA = False
00044 
00045 # TimedSwitch message field value constants:
00046 SWITCH_ON  = 1
00047 SWITCH_OFF = 0
00048 SWITCH_PULSE_PATTERN = -1
00049 
00050 # Output indicators on the Wiimote:
00051 
00052 RUMBLE = 1
00053 LED    = 2
00054 
00055 # Buttons in cwiid structure:
00056 
00057 BTN_1       = 0x0002                  # cwiid.CWIID_BTN_1
00058 BTN_2       = 0x0001                  # cwiid.CWIID_BTN_2
00059 BTN_B       = 0x0004                  # cwiid.CWIID_BTN_B
00060 BTN_A       = 0x0008                  # cwiid.CWIID_BTN_A
00061 BTN_MINUS = 0x0010                  # cwiid.CWIID_BTN_MINUS
00062 BTN_PLUS  = 0x1000                  # cwiid.CWIID_BTN_PLUS
00063 BTN_LEFT  = 0x0100                  # cwiid.CWIID_BTN_LEFT
00064 BTN_RIGHT = 0x0200                  # cwiid.CWIID_BTN_RIGHT
00065 BTN_DOWN  = 0x0400                  # cwiid.CWIID_BTN_DOWN
00066 BTN_UP    = 0x0800                  # cwiid.CWIID_BTN_UP
00067 BTN_HOME  = 0x0080                  # cwiid.CWIID_BTN_HOME
00068 
00069 # nunchuk Buttons
00070 BTN_C     = 0x0002
00071 BTN_Z     = 0x0001
00072 
00073 # Classic Controller Buttons
00074 CLASSIC_BTN_UP          = 0x0001
00075 CLASSIC_BTN_LEFT        = 0x0002
00076 CLASSIC_BTN_ZR          = 0x0004
00077 CLASSIC_BTN_X           = 0x0008
00078 CLASSIC_BTN_A           = 0x0010
00079 CLASSIC_BTN_Y           = 0x0020
00080 CLASSIC_BTN_B           = 0x0040
00081 CLASSIC_BTN_ZL          = 0x0080
00082 CLASSIC_BTN_R           = 0x0200
00083 CLASSIC_BTN_PLUS        = 0x0400
00084 CLASSIC_BTN_HOME        = 0x0800
00085 CLASSIC_BTN_MINUS       = 0x1000
00086 CLASSIC_BTN_L           = 0x2000
00087 CLASSIC_BTN_DOWN        = 0x4000
00088 CLASSIC_BTN_RIGHT       = 0x8000
00089 
00090 X   = 0
00091 Y   = 1
00092 Z   = 2
00093 
00094 PHI     = 0
00095 THETA   = 1
00096 PSI     = 2
00097 
00098 
00099 # Buttons order in Wiimote ROS message array:
00100 # These buttons are now defined in Wiimote.msg,
00101 # so that they are available to other languages.
00102 
00103 #MSG_BTN_1     = 0
00104 #MSG_BTN_2     = 1
00105 #MSG_BTN_A     = 2
00106 #MSG_BTN_B     = 3
00107 #MSG_BTN_PLUS  = 4
00108 #MSG_BTN_MINUS = 5
00109 #MSG_BTN_LEFT  = 6
00110 #MSG_BTN_RIGHT = 7
00111 #MSG_BTN_UP    = 8
00112 #MSG_BTN_DOWN  = 9
00113 #MSG_BTN_HOME  = 10
00114 
00115 
00116 X_COORD   = 'x'
00117 Y_COORD   = 'y'
00118 Z_COORD   = 'z'
00119 NORM_X    = 'normX'
00120 NORM_Y    = 'normY'
00121 NORM_Z    = 'normZ'
00122 
00123 NUM_IR_SENSORS = 4
00124 IR1       = 'ir1'
00125 IR2       = 'ir2'
00126 IR3       = 'ir3'
00127 IR4       = 'ir4'
00128 
00129 NUM_LEDS = 4
00130 LED1_ON = 0x01
00131 LED2_ON = 0x02
00132 LED3_ON = 0x04
00133 LED4_ON = 0x08
00134 
00135 # Indices into a two-tuple of info about battery state
00136 # in wiimote messages:
00137 #   0: Percentage of battery left.
00138 #   1: The raw battery reading
00139 
00140 BATTERY_PERCENTAGE = 0
00141 BATTERY_RAW = 1
00142 
00143 # Turning wiimote accelerator readings from g's to m/sec^2:
00144 EARTH_GRAVITY = 9.80665             # m/sec^2
00145 
00146 # Turning wiimote gyro readings to radians/sec.
00147 # This scale factor is highly approximate. Procedure:
00148 #    - Tape Wiimote to center of an office chair seat
00149 #    - Rotate the chair at approximately constant speed
00150 #      for 10 seconds. This resulted in 6 chair revolutions
00151 #    - On average, the Wiimote gyro read 3570 during this
00152 #      experiment. 
00153 #    - Speed of chair revolving: 
00154 #         * One full circle is: 2#pi radians
00155 #         * Six revolutions = 12pi radians. ==> 12pi rad in 10 sec ==> 1.2pi rad/sec
00156 #         * => 3570 == 1.2pi
00157 #         * => x*3570 = 1.2pi
00158 #         * => x = 1.2pi/3570 (1.2pi = 3.769908)
00159 #         * => scale factor = 0.001055997
00160 # So multiplying the gyro readings by this factor
00161 # calibrates the readings to show angular velocity
00162 # in radians/sec.
00163 GYRO_SCALE_FACTOR = 0.001055997
00164 
00165 # Status type of message from Wii to us:
00166 WII_MSG_TYPE_STATUS      = 0
00167 WII_MSG_TYPE_BTN         = 1
00168 WII_MSG_TYPE_ACC         = 2
00169 WII_MSG_TYPE_IR          = 3
00170 WII_MSG_TYPE_NUNCHUK     = 4
00171 WII_MSG_TYPE_CLASSIC     = 5
00172 # WII_MSG_TYPE_BALANCE     = 6
00173 WII_MSG_TYPE_MOTIONPLUS  = 7 # Gyro
00174 WII_MSG_TYPE_ERROR       = 8
00175 WII_MSG_TYPE_UNKNOWN     = 9
00176 
00177 
00178 #define CWIID_IR_X_MAX        1024
00179 #define CWIID_IR_Y_MAX        768
00180 
00181 ACC_X_STDEV_THRESHOLD    = 1.0 
00182 ACC_Y_STDEV_THRESHOLD    = 1.0 
00183 ACC_Z_STDEV_THRESHOLD    = 1.0
00184 
00185 GYRO_X_STDEV_THRESHOLD    = 50.0 
00186 GYRO_Y_STDEV_THRESHOLD    = 50.0 
00187 GYRO_Z_STDEV_THRESHOLD    = 50.0
00188 
00189 THRESHOLDS_ARRAY = np.array([ACC_X_STDEV_THRESHOLD,
00190                              ACC_Y_STDEV_THRESHOLD,
00191                              ACC_Z_STDEV_THRESHOLD,
00192                              GYRO_X_STDEV_THRESHOLD,
00193                              GYRO_Y_STDEV_THRESHOLD,
00194                              GYRO_Z_STDEV_THRESHOLD])
00195 
00196  


wiimote
Author(s): Andreas Paepcke and Melonee Wise
autogenerated on Sat Dec 28 2013 17:06:50