class hexCommander(wx.Frame):
ID_PORT=wx.NewId()
ID_WIIMOTE=wx.NewId()
TIMER_ID = 100
ID_TIMER=wx.NewId()
ser = None
def __init__(self):
wx.Frame.__init__(self, None, -1, "leet Commander", style = wx.DEFAULT_FRAME_STYLE & ~ (wx.RESIZE_BORDER | wx.MAXIMIZE_BOX))
#self.ser = ser
self.port = None
self.wiimote = None
menubar = wx.MenuBar()
configmenu = wx.Menu()
controller = wx.Menu()
configmenu.Append(self.ID_PORT,"port")
menubar.Append(configmenu, "config")
wx.EVT_MENU(self, self.ID_PORT, self.doPort)
controller.Append(self.ID_WIIMOTE,"wiimote")
menubar.Append(controller, "connect")
wx.EVT_MENU(self, self.ID_WIIMOTE, self.doWiimote)
self.sb = self.CreateStatusBar(3)
self.sb.SetStatusWidths([-1,150])
self.sb.SetStatusText('robot not connected',1)
self.sb.SetStatusText('wiimote not connected',2)
self.SetMenuBar(menubar)
self.timer = wx.Timer(self, self.ID_TIMER)
self.timeout = 0
self.timer = wx.Timer(self, self.TIMER_ID)
self.timer.Start(33)
wx.EVT_CLOSE(self, self.onClose)
wx.EVT_TIMER(self, self.TIMER_ID, self.onTimer)
self.Show(True)
def onTimer(self, event=None):
# configure output
if self.port != None and self.wiimote != None:
status = self.wiimote.get_status()
mpitch, mroll = self.moteTilt.wmplugin_exec(status['acc'])
tilt = 127 + int(mroll)
if tilt > 217:
tilt = 217
if tilt < 37:
tilt = 37
leftMotor = 127
rightMotor = 127
if (int(status['buttons'])&1) > 0:
leftMotor = 126
rightMotor = 126
elif (int(status['buttons'])&2) > 0:
leftMotor = 128
rightMotor = 128
elif (int(status['buttons'])&2048) > 0:
leftMotor = 128
rightMotor = 126
elif (int(status['buttons'])&1024) > 0:
leftMotor = 126
rightMotor = 128
if mpitch > 20:
leftMotor = 127
if mpitch < -20:
rightMotor = 127
tvb = 0;
if ((int(status['buttons'])&4) > 0) and ((int(status['buttons'])&8) > 0):
tvb = 255;
self.sendPacket(leftMotor, rightMotor, tilt, tvb)
self.timer.Start(200)
if self.ser != None:
value = self.ser.read(3)
if value == "low":
self.wiimote.wiimote.rumble = 1
def sendPacket(self, leftMotor, rightMotor, tilt, tvb):
self.ser.write(chr(int('13', 10)))
self.ser.write(chr(leftMotor))
self.ser.write(chr(rightMotor))
self.ser.write(chr(tilt))
self.ser.write(chr(tvb))
self.ser.write(chr(int('10', 10)))
def onClose(self, event):
try:
self.timer.Stop()
self.sendPacket(128,128,128,128,0)
self.Destroy()
except:
pass
def findPorts(self):
""" return a list of serial ports """
self.ports = list()
# windows first
for i in range(20):
try:
s = serial.Serial("COM"+str(i))
s.close()
self.ports.append("COM"+str(i))
except:
pass
if len(self.ports) > 0:
return self.ports
# mac specific next:
try:
for port in os.listdir("/dev/"):
if port.startswith("tty.usbserial"):
self.ports.append("/dev/"+port)
except:
pass
# linux/some-macs
for k in ["/dev/ttyUSB","/dev/ttyACM","/dev/ttyS"]:
for i in range(6):
try:
s = serial.Serial(k+str(i))
s.close()
self.ports.append(k+str(i))
except:
pass
return self.ports
def doPort(self, e=None):
""" open a serial port """
if self.port == None:
self.findPorts()
dlg = wx.SingleChoiceDialog(self,'Port (Ex. COM4 or /dev/ttyUSB0)','Select Communications Port',self.ports)
#dlg = PortDialog(self,'Select Communications Port',self.ports)
if dlg.ShowModal() == wx.ID_OK:
if self.port != None:
self.port.ser.close()
print "Opening port: " + self.ports[dlg.GetSelection()]
try:
# TODO: add ability to select type of driver
self.port = Driver(self.ports[dlg.GetSelection()], 57600, True) # w/ interpolation
self.sb.SetStatusText("",0)
self.sb.SetStatusText(self.ports[dlg.GetSelection()] + "@57600",1)
self.sb.SetBackgroundColour(wx.NullColor)
self.ser = self.port.ser
except:
self.port = None
self.sb.SetBackgroundColour('RED')
self.sb.SetStatusText("Could Not Open Port",0)
self.sb.SetStatusText('not connected',1)
self.timer.Start(20)
dlg.Destroy()
def doWiimote(self, e=None):
try:
self.setupWiiMote()
self.sb.SetStatusText('wiimote connected',2)
except:
self.sb.SetStatusText('not connected',2)
def setupWiiMote(self):
self.wiimote = Wiimote()
self.nunchukTilt = TiltCalculator()
self.nunchukTilt.wmplugin_init(self.wiimote.wiimote)
self.moteTilt = TiltCalculator()
self.moteTilt.wmplugin_init(self.wiimote.wiimote)
def setupWiiMote(self): self.wiimote = Wiimote() self.nunchukTilt = TiltCalculator() self.nunchukTilt.wmplugin_init(self.wiimote.wiimote) self.moteTilt = TiltCalculator() self.moteTilt.wmplugin_init(self.wiimote.wiimote)
import cwiid
from acc import TiltCalculator
def calculate_tilt(acc1):
X = acc1[cwiid.X]
Y = acc1[cwiid.Y]
Z = acc1[cwiid.Z]
pitch = math.atan(Y/math.sqrt(X*X + Z*Z))
roll = math.atan(X/math.sqrt(Y*Y + Z*Z))
return 30 - math.degrees(pitch), 30 - math.degrees(roll)
mote = Wiimote()
#nunchukTilt = TiltCalculator()
#nunchukTilt.wmplugin_init(mote.wiimote)
moteTilt = TiltCalculator()
moteTilt.wmplugin_init(mote.wiimote)
while(1):
os.system("clear")
print mote.get_status()
status = mote.get_status()
print "mote pitch: %d roll: %d" % moteTilt.wmplugin_exec(status['acc'])
#print "nunchukTilt pitch: %d roll: %d" % nunchukTilt.wmplugin_exec(status['nunchuk']['acc'])
#print "nunchuk stick: X: %d Y: %d" % status['nunchuk']['stick']
print 'Button Report: %.4X' % (int(status['buttons'])&4)
# sleep(0.2)
#mote.connect()