def main(self):
# initalize
self.load_conf()
pygame.init()
# sound
if self.option["sound"]:
self.init_sound()
# pygame
old = [self.param["height"] / 2] * 9
font_title = pygame.font.Font("font/ipag.ttf",
int(self.param["sidebar_width"] * 1.5))
font_small = pygame.font.Font("font/ipag.ttf",
int(self.param["sidebar_width"]))
screen = pygame.display.set_mode(
(self.param["width"] * 3,
self.param["height"] + self.param["sidebar_height"] * 3), )
screen.fill((255, 255, 255))
pygame.display.set_caption(u"WiiRemote Orientation Graph")
notes = pygame.Surface(
(self.param["width_"] / 2.0 - 10,
self.param["sidebar_height"] * 3 - 10)).convert()
acc_graph = pygame.Surface(
(self.param["width_"], self.param["height_"])).convert()
acc_base = pygame.Surface(
(self.param["width"], self.param["height"])).convert()
gyro_graph = pygame.Surface(
(self.param["width_"], self.param["height_"])).convert()
gyro_base = pygame.Surface(
(self.param["width"], self.param["height"])).convert()
average_graph = pygame.Surface(
(self.param["width_"], self.param["height_"])).convert()
average_base = pygame.Surface(
(self.param["width"], self.param["height"])).convert()
acc_title = font_title.render(u"加速度", True, (0, 0, 0))
gyro_title = font_title.render(u"ジャイロ", True, (0, 0, 0))
average_title = font_title.render(u"加速度＋ジャイロ", True, (0, 0, 0))
pitch_font = font_small.render(u"pitch角", True,
(255, 255, 255)) #(0,0,0))
roll_font = font_small.render(u"roll角", True,
(255, 255, 255)) #(0,0,0))
yaw_font = font_small.render(u"yaw角", True, (255, 255, 255)) #(0,0,0))
for i in xrange(3):
pygame.draw.line(notes, self.param["colors"][i],
(3, self.param["sidebar_height"] * i +
self.param["sidebar_height"] / 2.0 - 5),
(self.param["width_"] / 4.0 - 3,
self.param["sidebar_height"] * i +
self.param["sidebar_height"] / 2.0 - 5))
notes.blit(pitch_font, (self.param["width_"] / 4.0, 0))
notes.blit(roll_font,
(self.param["width_"] / 4.0, self.param["sidebar_height"]))
notes.blit(
yaw_font,
(self.param["width_"] / 4.0, self.param["sidebar_height"] * 2))
#visual
self.init_visual()
# connect WiiRemote
wiiremote.init()
if not wiiremote.running():
return
# sensors
self.init_sensors()
# get status
if not self.option["limited"]: self.get_status()
print "[--- start ---]\n"
if self.option["sound"]:
print "press [A] to on/off saber"
while not self.event_handling():
pygame.display.update()
pygame.time.wait(10)
bgcolor = (255, 255, 255)
if self.param["fall"]:
self.param["fall"] = False
bgcolor = (255, 0, 0)
screen.fill(bgcolor)
screen.blit(notes,
(self.param["width"] * 2.5, self.param["height"]))
acc_graph.blit(acc_graph, (-1, 0))
gyro_graph.blit(gyro_graph, (-1, 0))
average_graph.blit(average_graph, (-1, 0))
for c in xrange(3):
if self.param["view-axis"][c]:
pygame.draw.line(acc_graph, self.param["colors"][c],
(self.param["width_"] - 3, old[c]),
(self.param["width_"] - 2,
self.data["graph_acc_orient"][c]))
old[c] = self.data["graph_acc_orient"][c]
if self.param["view-axis"][c + 3]:
pygame.draw.line(gyro_graph, self.param["colors"][c],
(self.param["width_"] - 3, old[c + 3]),
(self.param["width_"] - 2,
self.data["graph_gyro_orient"][c]))
old[3 + c] = self.data["graph_gyro_orient"][c]
if self.param["view-axis"][c + 6]:
pygame.draw.line(average_graph, self.param["colors"][c],
(self.param["width_"] - 3, old[c + 6]),
(self.param["width_"] - 2,
self.data["graph_average_orient"][c]))
old[6 + c] = self.data["graph_average_orient"][c]
acc_base.fill(bgcolor)
gyro_base.fill(bgcolor)
average_base.fill(bgcolor)
acc_base.blit(
acc_graph,
(self.param["sidebar_width"], self.param["sidebar_height"]))
gyro_base.blit(
gyro_graph,
(self.param["sidebar_width"], self.param["sidebar_height"]))
average_base.blit(
average_graph,
(self.param["sidebar_width"], self.param["sidebar_height"]))
acc_base.blit(acc_title, (self.param["sidebar_width"] + 10, 0))
gyro_base.blit(gyro_title, (self.param["sidebar_width"], 0))
average_base.blit(average_title, (self.param["sidebar_width"], 0))
pygame.draw.line(
acc_base, (144, 144, 144),
(self.param["sidebar_width"],
self.param["sidebar_height"] + self.param["height_"] / 2),
(self.param["sidebar_width"] + self.param["width_"],
self.param["sidebar_height"] + self.param["height_"] / 2))
pygame.draw.line(
gyro_base, (144, 144, 144),
(self.param["sidebar_width"],
self.param["sidebar_height"] + self.param["height_"] / 2),
(self.param["sidebar_width"] + self.param["width_"],
self.param["sidebar_height"] + self.param["height_"] / 2))
pygame.draw.line(
average_base, (144, 144, 144),
(self.param["sidebar_width"],
self.param["sidebar_height"] + self.param["height_"] / 2),
(self.param["sidebar_width"] + self.param["width_"],
self.param["sidebar_height"] + self.param["height_"] / 2))
screen.blit(acc_base, (0, 0))
screen.blit(gyro_base, (self.param["width"], 0))
screen.blit(average_base, (self.param["width"] * 2, 0))
for p in xrange(len(self.param["patterns"])):
if self.param["cur_pattern"] == p:
screen.fill(
(255, 0, 255),
(self.param["sidebar_width"], self.param["height"] +
self.param["sidebar_width"] * p,
self.param["width"] * 2 - self.param["sidebar_width"],
self.param["sidebar_width"]
)) # from 2 to 2.25 ?#############
screen.blit(
font_small.render(self.param["patterns"][p], True,
(0, 0, 0)),
(self.param["sidebar_width"],
self.param["height"] + self.param["sidebar_width"] * p))
else:
wiiremote.quit(self.option["limited"])
self.quit_visual()
sys.exit(1)
def event_handling(self):
if not wiiremote.running():
return 1
for event in wiiremote.get_queue():
if event.type == wiiremote.WIIMOTE_ACCEL_GYRO:
self.accel_gyro(event.accel, event.gyro, event.fast_mode,
event.time)
continue
for event in pygame.event.get():
#print event
if event.type == pygame.QUIT:
return 1
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
return 1
elif event.key == pygame.K_a:
self.param["view-axis"][0] = not self.param["view-axis"][0]
continue
elif event.key == pygame.K_b:
self.param["view-axis"][1] = not self.param["view-axis"][1]
continue
elif event.key == pygame.K_c:
self.param["view-axis"][2] = not self.param["view-axis"][2]
continue
elif event.key == pygame.K_d:
self.param["view-axis"][3] = not self.param["view-axis"][3]
continue
elif event.key == pygame.K_e:
self.param["view-axis"][4] = not self.param["view-axis"][4]
continue
elif event.key == pygame.K_f:
self.param["view-axis"][5] = not self.param["view-axis"][5]
continue
elif event.key == pygame.K_x:
self.param["view-axis"][6] = not self.param["view-axis"][6]
continue
elif event.key == pygame.K_y:
self.param["view-axis"][7] = not self.param["view-axis"][7]
continue
elif event.key == pygame.K_z:
self.param["view-axis"][8] = not self.param["view-axis"][8]
continue
elif event.type == wiiremote.WIIMOTE_BUTTON_PRESS:
if self.option["button"]: print event.button, "pressed"
if event.button == "Home":
return 1
elif event.button == "A":
if self.param["gyro_zero"] == [
0, 0, 0
] or self.param["acc_zero"] == [0, 0, 0]:
return 1
if self.option["sound"]:
if self.param["saber"]:
self.play_sound("off")
self.param["saber"] = False
wiiremote.do(wiiremote.whileRumble500msec)
else:
self.play_sound("on")
self.param["saber"] = True
wiiremote.do(wiiremote.whileRumble500msec)
return 1
self.calibration(reset_gyro_zero=False)
#elif event.button == "2":
# self.calibration(reset_gyro_zero=True)
continue
elif event.type == wiiremote.WIIMOTE_BUTTON_RELEASE:
if self.option["button"]: print event.button, "released"
continue
elif event.type == wiiremote.WIIMOTE_STATUS:
print "[--- status ---]"
print "flag:\n ", wiiremote.getFlag_format(event.flag)
print "LED:", wiiremote.getLED_format(event.LEDs)
print "battery: %f %%" % (event.battery * 100)
print ""
if self.param["org_mode"]:
wiiremote.end_status(
self.param["org_mode"]) # restore mode
self.param["org_mode"] = None
return 1
continue
else:
return None
def event_handling(self):
if not wiiremote.running():
return 1
for event in wiiremote.get_queue():
if event.type == wiiremote.WIIMOTE_ACCEL_GYRO:
self.accel_gyro(event.accel, event.gyro, event.fast_mode, event.time)
continue
for event in pygame.event.get():
#print event
if event.type == pygame.QUIT:
return 1
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
return 1
elif event.key == pygame.K_a:
self.param["view-axis"][0] = not self.param["view-axis"][0]
continue
elif event.key == pygame.K_b:
self.param["view-axis"][1] = not self.param["view-axis"][1]
continue
elif event.key == pygame.K_c:
self.param["view-axis"][2] = not self.param["view-axis"][2]
continue
elif event.key == pygame.K_d:
self.param["view-axis"][3] = not self.param["view-axis"][3]
continue
elif event.key == pygame.K_e:
self.param["view-axis"][4] = not self.param["view-axis"][4]
continue
elif event.key == pygame.K_f:
self.param["view-axis"][5] = not self.param["view-axis"][5]
continue
elif event.key == pygame.K_x:
self.param["view-axis"][6] = not self.param["view-axis"][6]
continue
elif event.key == pygame.K_y:
self.param["view-axis"][7] = not self.param["view-axis"][7]
continue
elif event.key == pygame.K_z:
self.param["view-axis"][8] = not self.param["view-axis"][8]
continue
elif event.type == wiiremote.WIIMOTE_BUTTON_PRESS:
if self.option["button"]: print event.button, "pressed"
if event.button == "Home":
return 1
elif event.button == "A":
if self.param["gyro_zero"] == [0,0,0] or self.param["acc_zero"] == [0,0,0]:
return 1
if self.option["sound"]:
if self.param["saber"]:
self.play_sound("off")
self.param["saber"] = False
wiiremote.do(wiiremote.whileRumble500msec)
else:
self.play_sound("on")
self.param["saber"] = True
wiiremote.do(wiiremote.whileRumble500msec)
return 1
self.calibration(reset_gyro_zero=False)
elif event.button == "2":
self.calibration(reset_gyro_zero=True)
continue
elif event.type == wiiremote.WIIMOTE_BUTTON_RELEASE:
if self.option["button"]: print event.button, "released"
continue
elif event.type == wiiremote.WIIMOTE_STATUS:
print "[--- status ---]"
print "flag:\n ", wiiremote.getFlag_format(event.flag)
print "LED:", wiiremote.getLED_format(event.LEDs)
print "battery: %f %%" % (event.battery * 100)
print ""
if self.param["org_mode"]:
wiiremote.end_status(self.param["org_mode"]) # restore mode
self.param["org_mode"] = None
return 1
continue
else:
return None
def main(self):
# initalize
self.load_conf()
pygame.init()
# sound
if self.option["sound"]:
self.init_sound()
# pygame
old = [self.param["height"] / 2] * 9
font_title = pygame.font.Font("font/ipag.ttf", int(self.param["sidebar_width"]*1.5))
font_small = pygame.font.Font("font/ipag.ttf", int(self.param["sidebar_width"]))
screen = pygame.display.set_mode((self.param["width"] *3 , self.param["height"]+self.param["sidebar_height"]*3), )
screen.fill((255, 255, 255))
pygame.display.set_caption(u"WiiRemote Orientation Graph")
notes = pygame.Surface((self.param["width_"]/2.0-10, self.param["sidebar_height"]*3-10)).convert()
acc_graph = pygame.Surface((self.param["width_"], self.param["height_"])).convert()
acc_base = pygame.Surface((self.param["width"], self.param["height"])).convert()
gyro_graph = pygame.Surface((self.param["width_"], self.param["height_"])).convert()
gyro_base = pygame.Surface((self.param["width"], self.param["height"])).convert()
average_graph = pygame.Surface((self.param["width_"], self.param["height_"])).convert()
average_base = pygame.Surface((self.param["width"], self.param["height"])).convert()
acc_title = font_title.render(u"加速度", True, (0, 0, 0))
gyro_title = font_title.render(u"ジャイロ", True, (0,0,0))
average_title = font_title.render(u"加速度＋ジャイロ", True, (0,0,0))
pitch_font = font_small.render(u"pitch角", True, (255,255,255))#(0,0,0))
roll_font = font_small.render(u"roll角", True, (255,255,255))#(0,0,0))
yaw_font = font_small.render(u"yaw角", True, (255,255,255))#(0,0,0))
for i in xrange(3):
pygame.draw.line(notes, self.param["colors"][i], (3, self.param["sidebar_height"]*i+self.param["sidebar_height"]/2.0-5), (self.param["width_"]/4.0-3, self.param["sidebar_height"]*i+self.param["sidebar_height"]/2.0-5))
notes.blit(pitch_font, (self.param["width_"]/4.0, 0))
notes.blit(roll_font, (self.param["width_"]/4.0, self.param["sidebar_height"]))
notes.blit(yaw_font, (self.param["width_"]/4.0, self.param["sidebar_height"]*2))
#visual
self.init_visual()
# connect WiiRemote
wiiremote.init()
if not wiiremote.running():
return
# sensors
self.init_sensors()
# get status
if not self.option["limited"]: self.get_status()
print "[--- start ---]\n"
if self.option["sound"]:
print "press [A] to on/off saber"
while not self.event_handling():
pygame.display.update()
pygame.time.wait(10)
bgcolor = (255, 255, 255)
if self.param["fall"]:
self.param["fall"] = False
bgcolor = (255, 0, 0)
screen.fill(bgcolor)
screen.blit(notes, (self.param["width"]*2.5, self.param["height"]))
acc_graph.blit(acc_graph, (-1, 0))
gyro_graph.blit(gyro_graph, (-1, 0))
average_graph.blit(average_graph, (-1, 0))
for c in xrange(3):
if self.param["view-axis"][c]:
pygame.draw.line(acc_graph, self.param["colors"][c], (self.param["width_"]-3, old[c]), (self.param["width_"]-2, self.data["graph_accel"][c]))
old[c] = self.data["graph_accel"][c]
if self.param["view-axis"][c+3]:
pygame.draw.line(gyro_graph, self.param["colors"][c], (self.param["width_"]-3, old[c+3]), (self.param["width_"]-2, self.data["graph_gyro"][c]))
old[3+c] = self.data["graph_gyro"][c]
if self.param["view-axis"][c+6]:
pygame.draw.line(average_graph, self.param["colors"][c], (self.param["width_"]-3, old[c+6]), (self.param["width_"]-2, self.data["graph_average_orient"][c]))
old[6+c] = self.data["graph_average_orient"][c]
acc_base.fill(bgcolor)
gyro_base.fill(bgcolor)
average_base.fill(bgcolor)
acc_base.blit(acc_graph, (self.param["sidebar_width"], self.param["sidebar_height"]))
gyro_base.blit(gyro_graph, (self.param["sidebar_width"], self.param["sidebar_height"]))
average_base.blit(average_graph, (self.param["sidebar_width"], self.param["sidebar_height"]))
acc_base.blit(acc_title, (self.param["sidebar_width"]+10, 0))
gyro_base.blit(gyro_title, (self.param["sidebar_width"], 0))
average_base.blit(average_title, (self.param["sidebar_width"], 0))
pygame.draw.line(acc_base, (144, 144, 144), (self.param["sidebar_width"], self.param["sidebar_height"] + self.param["height_"]/2), (self.param["sidebar_width"]+self.param["width_"], self.param["sidebar_height"]+self.param["height_"]/2))
pygame.draw.line(gyro_base, (144, 144, 144), (self.param["sidebar_width"], self.param["sidebar_height"] + self.param["height_"]/2), (self.param["sidebar_width"]+self.param["width_"], self.param["sidebar_height"]+self.param["height_"]/2))
pygame.draw.line(average_base, (144, 144, 144), (self.param["sidebar_width"], self.param["sidebar_height"] + self.param["height_"]/2), (self.param["sidebar_width"]+self.param["width_"], self.param["sidebar_height"]+self.param["height_"]/2))
screen.blit(acc_base, (0,0))
screen.blit(gyro_base, (self.param["width"], 0))
screen.blit(average_base, (self.param["width"]*2, 0))
for p in xrange(len(self.param["patterns"])):
if self.param["cur_pattern"] == p:
screen.fill((255, 0, 255), (self.param["sidebar_width"], self.param["height"]+self.param["sidebar_width"]*p, self.param["width"]*2-self.param["sidebar_width"], self.param["sidebar_width"])) # from 2 to 2.25 ?#############
screen.blit(font_small.render(self.param["patterns"][p], True, (0,0,0)), (self.param["sidebar_width"], self.param["height"]+self.param["sidebar_width"]*p))
else:
wiiremote.quit(self.option["limited"])
self.quit_visual()
sys.exit(1)
def main():
#exec options
debug = {"button":False, "accel":False, "orient":False, "divide":False, "sound":True, "fall":False, "gyro":False, "save":False}
if "--button" in sys.argv[1:]:
debug["button"] = True
if "--acc" in sys.argv[1:]:
debug["accel"] = True
if "--acc_orient" in sys.argv[1:]:
debug["orient"] = True
if "--gyro" in sys.argv[1:]:
debug["gyro"] = True
if "--divide-view" in sys.argv[1:]:
debug["divide"] = True
if "--sound-off" in sys.argv[1:]:
debug["sound"] = False
if "--fall-detect" in sys.argv[1:]:
debug["fall"] = True
debug["sound"] = True
if "--config" in sys.argv[1:]:
pass
if "--help" in sys.argv[1:] or "-h" in sys.argv[1:]:
print (
"Usage: %s" % sys.argv[0] +
"--button Show press or release button.\n" +
"--acc Show 3axis accel data.\n" +
"--acc_orient Show 3axis orient data calclated from acc.\n" +
"--gyro Show 3axis gyro data.\n" +
"--divide-view Show divided every axis graph view.\n" +
"--sound-off Disable light-saber sound.\n" +
"--fall-detect Enable fall detection.\n" +
)
#init
global sounds, param
load_conf(divide=debug["divide"])
pygame.init()
wiiremote.init()
if not wiiremote.running(): return
#sound
wiiremote.pause(True) #pause
if debupg["sound"]:
init_sound()
#status
wiiremote.status()
print "--- status ---"
print "flag:\n ", wiiremote.getFlag_p()
print "LED:", wiiremote.getLED_p()
print "battery: %f %%" % (wiiremote.getBattery() * 100)
print ""
wiiremote.pause(False) #pause release
#accel
init_accel()
acc = [0, 0, 0]
#gyro
angle_yaw = 0
angle_pitch = 0
angle_roll = 0
#pygame
old = [param["height"] / 2] * 3
view = [True, True, True]
if debug["divide"]: screen = pygame.display.set_mode((param["width"], param["height"]*3))
else: screen = pygame.display.set_mode((param["width"], param["height"]))
font = pygame.font.SysFont(None, side_width*1.5)
param["width_"] = param["width"] - side_width
print "--- start ---"
if debug["sound"]:
print "press A to on/off saber"
prev_time = time.time() # init prev_time
while wiiremote.wiimote.go:
if debug["divide"]:
for c in [1, 2]:
pygame.draw.line(screen, (255, 255, 255), (0, param["height"]*c), (param["width_"], param["height"]*c))
pygame.time.wait(10)
pygame.display.update()
screen.fill((0, 0, 0), (param["width_"], 0, side_width, param["height"]))
screen.blit(screen, (-1, 0))
if not debug["divide"]:
for i in range(int(maxA*2+1)):
screen.blit(font.render("%-d" % (maxA - i), True, (144, 144, 144)), (param["width"]-side_width, float(param["height"]) / (maxA*2) * i - side_width*1.5/4))
pygame.draw.line(screen, (144, 144, 144), (0, float(param["height"]) / (maxA*2) * i), (param["width_"], float(param["height"]) / (maxA*2) * i))
#pygame
for c in range(3): # 3axis
if view[c]:
s = int((acc[c] * param["height"] / maxA + param["height"]) / 2)
s = max(0, min(param["height"] - 1, s))
if debug["divide"]: pygame.draw.line(screen, colors[c], (param["width_"]-3, param["height"]*c+old[c]), (param["width_"]-2, param["height"]*c+s))
else: pygame.draw.line(screen, colors[c], (param["width_"]-3, old[c]), (param["width_"]-2, s))
old[c] = s
for event in pygame.event.get():
if event.type == pygame.QUIT:
wiiremote.quit()
break
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
wiiremote.quit()
break
if event.key == pygame.K_x:
if view[0]: view[0] = False
else: view[0] = True
elif event.key == pygame.K_y:
if view[1]: view[1] = False
else: view[1] = True
elif event.key == pygame.K_z:
if view[2]: view[2] = False
else: view[2] = True
elif event.type == wiiremote.WIIMOTE_BUTTON_PRESS:
if debug["button"]: print event.button, "pressed"
if event.button == "A":
if debug["sound"]:
if param["saber"]:
wiiremote.do(saber_off)
else:
wiiremote.do(saber_on)
#if event.button == "B":
# wiiremote.setRumble(1)
elif event.type == wiiremote.WIIMOTE_BUTTON_RELEASE:
if debug["button"]: print event.button, "released"
#if event.button == "B":
# wiiremote.setRumble(0)
elif event.type == wiiremote.WIIMOTE_ACCEL:
acc[0] = (event.accel[0] - param["acc_zero"][0]) / param["acc_gain"][0]
acc[1] = (event.accel[1] - param["acc_zero"][1]) / param["acc_gain"][1]
acc[2] = (event.accel[2] - param["acc_zero"][2]) / param["acc_gain"][2]
if debug["accel"]: print "acc =", acc
if debug["save"]:
pass
if debug["sound"] and param["saber"]:
if (4 > abs(acc[0]) >= 1.5) or (4 > abs(acc[1]) >= 2.5) or (4 > abs(acc[2]) >= 2.5):
play_sound("swing1", True)
elif (abs(acc[0]) >= 4) or (abs(acc[1]) >= 3) or (abs(acc[2]) >= 3):
play_sound("strike1", False, stop=True)
if acc[0] > 1: gx = 1
elif acc[0] < -1: gx = -1
else: gx = acc[0]
if acc[1] > 1: gy = 1
elif acc[1] < -1: gy = -1
else: gy = acc[1]
if acc[2] > 1: gz = 1
elif acc[2] < -1: gz = -1
else: gz = acc[2]
#print "gx, gy, gz =", gx, gy, gz
jx = 90 - (math.asin(gx) * 180 / math.pi)
jy = 90 - (math.asin(gy) * 180 / math.pi)
jz = 90 - (math.asin(gz) * 180 / math.pi)
if debug["orient"]: print "acc orient : %f %f %f" % (jx, jy, jz)
if debug["fall"]:
if abs(gx) * 10 < 1 and abs(gy) * 10 < 1 and abs(gz) * 10 < 1 and not pygame.mixer.get_busy():
print "Fall!"
wiiremote.do(sounds["fall"].play)
elif event.type == wiiremote.WIIMOTE_ORIENT:
yaw = (event.orient[0] - param["gyro_zero"][0]) / param["gyro_gain"]
if event.fast_mode[0]: yaw *= param["gyro_fast"]
pitch = (event.orient[1] - param["gyro_zero"][1]) / param["gyro_gain"]
if event.fast_mode[1]: pitch *= param["gyro_fast"]
roll = (event.orient[2] - param["gyro_zero"][2]) / param["gyro_gain"]
if event.fast_mode[2]: roll *= param["gyro_fast"]
frametime = time.time() - prev_time
prev_time = time.time()
#print frametime
angle_yaw += yaw * frametime
angle_pitch += pitch * frametime
angle_roll += roll * frametime
# -180 <= angle < 180
angle_yaw = angle_yaw % 360
angle_pitch = angle_pitch % 360
angle_roll = angle_roll % 360
if debug["gyro"]:
#print "yaw, pitch, roll =", yaw, pitch, roll
print "angle_yaw, angle_pitch, angle_roll =", angle_yaw, angle_pitch, angle_roll
wiiremote.quit()
print "--- stop ---"
return