def main():
wi = Wiimote()
def cb_A():
print("RELEASED A !")
wi.on(BTN_A, RELEASED, cb_A)
import time
while True:
# connect the wiimote
if not wi.connected():
try:
print("connecting...")
wi.connect()
time.sleep(0.4)
print("connected")
except WiimoteError:
print("connection fail")
time.sleep(0.2)
else:
time.sleep(0.4)
exit = False
while not exit:
c = sys.stdin.read(1)
if c == "s":
print wi._wm.state
elif c == "a":
print wi.is_pressed(BTN_A)
exit = c == "x"
wi.close()
def activate_wiimote(self):
""" make wiimote available
"""
from wiimote import Wiimote, WiimoteError
self.wiimote = Wiimote()
def check_reconnect():
connected = False
while True:
# connect the wiimote
if not self.wiimote.connected():
try:
self.log.info("Connecting to WiiMote...")
self.wiimote.connect()
self.wait(0.4)
self.log.info("Connected to WiiMote !")
except WiimoteError:
self.log.info("Connection to WiiMote failed !")
self.wait(0.2)
else:
self.wait(0.4)
self._to_spawn.append(check_reconnect)
def main_loop():
# Get colors based on controller roll
colors = get_colors()
# Get dim modifier based on controller pitch
dim_modifier = get_dim()
set_color([(color * dim_modifier) for color in colors])
# Snd data to dmx
for light in lights:
change_data(light.start_address, light.data)
send_dmx()
def init_lights(amount):
for i in xrange(amount):
lights.append(LED(i * 4, i * 4 + 3))
if __name__ == '__main__':
if len(sys.argv) != 2:
print "Usage: main.py <amount of lights>"
sys.exit(1)
wiimote = Wiimote()
init_lights(int(sys.argv[1]))
while True:
main_loop()
def run(self):
""" Main Running loop controling bot mode and menu state """
# Show state on OLED display
self.show_message('Booting...')
# Read config file FIRST
self.read_config()
self.show_message('Initialising Bluetooth...')
# Never stop looking for wiimote.
while not self.killed:
# Show state on OLED display
self.oled.cls() # Clear screen
self.oled.canvas.text((10, 10), 'Waiting for WiiMote...', fill=1)
self.oled.canvas.text((10, 30), '***Press 1+2 now ***', fill=1)
self.oled.display()
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
# Reset LED to NO MODE
self.mode = self.MODE_NONE
if self.wiimote and self.wiimote.wm:
self.wiimote.wm.led = self.mode
# Show state on OLED display
self.show_mode()
# Constantly check wiimote for button presses
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
classic_buttons_state = self.wiimote.get_classic_buttons()
if buttons_state is not None:
if (buttons_state & cwiid.BTN_A):
self.start_rc_mode()
if (buttons_state & cwiid.BTN_HOME):
self.start_calibration_mode()
if (buttons_state & cwiid.BTN_B):
# Kill any previous Challenge / RC mode
self.stop_threads()
if (buttons_state & cwiid.BTN_HOME):
self.start_calibration_mode()
if (buttons_state & cwiid.BTN_UP):
logging.info("BUTTON_UP")
if (buttons_state & cwiid.BTN_DOWN):
logging.info("BUTTON_DOWN")
if (buttons_state & cwiid.BTN_LEFT):
logging.info("BUTTON_LEFT")
if (buttons_state & cwiid.BTN_RIGHT):
logging.info("BUTTON_RIGHT")
if classic_buttons_state is not None:
if (classic_buttons_state & cwiid.CLASSIC_BTN_ZL
or classic_buttons_state & cwiid.CLASSIC_BTN_ZR):
# One of the Z buttons pressed, disable
# motors and set neutral.
self.core.enable_motors(False)
else:
# Neither Z buttons pressed,
# allow motors to move freely.
self.core.enable_motors(True)
time.sleep(0.05)
# Verify Wiimote is connected each loop. If not, set wiimote
# to None and it "should" attempt to reconnect.
if not self.wiimote.wm:
self.stop_threads()
self.wiimote = None
def connectWii(self):
if self.connected:
self.disconnectDevice()
return
self.wii = Wiimote()
pBar = PBarDlg(self)
pBar.setModal(True)
pBar.show()
conf = Configuration()
selectedMac = conf.getValueStr("selectedmac")
pBar.reInit(selectedMac)
pool = []
while 1:
thread = self.wii.createConnectThread(selectedMac, pool)
thread.start()
while not thread.wait(30):
QtWidgets.QApplication.processEvents()
if pBar.cancelled == True:
if self.wii.isConnected():
self.wii.close()
self.wii = None
pBar.close()
return
if selectedMac == '*' and len(pool) >= 1:
if Configuration().getValueStr('nowaitdevices') == 'Yes':
selectedMac = pool[0]
else:
pBar.inform(
self.tr('Found ') + str(len(pool)) +
self.tr(' Devices. Press to Choose'))
if self.wii.isConnected():
self.connected = True
self.calibrated = False
self.active = False
self.updateButtons()
self.batteryLevel.setValue(self.wii.battery() * 100)
self.pushButtonConnect.setText(self.tr("Disconnect"))
pBar.close()
self.confDialog.wii = self.wii
self.confDialog.checkButtons()
self.wii.disable()
self.wii.putCallbackBTN(self.makeBTNCallback())
self.wii.putCallbackIR(None)
self.wii.enable()
# Start calibration if configuration says so
conf = Configuration()
if conf.getValueStr("autocalibration") == "Yes":
if conf.getValueStr("automatrix") == "Yes":
self.calibrateWiiFromSettings()
else:
self.calibrateWiiScreen()
return
if self.wii.error:
self.wii = None
msgbox = QtWidgets.QMessageBox(self)
msgbox.setWindowTitle(self.tr('Error'))
msgbox.setText(self.tr("Error. Check your bluetooth driver"))
msgbox.setModal(True)
ret = msgbox.exec_()
pBar.close()
return
if pBar.choice:
if len(pool) == 1:
selectedMac = str(pool[0])
pBar.reInit(selectedMac)
else:
item, ok = QtWidgets.QInputDialog.getItem(
self, self.tr("Warning"), self.tr("Choose device"),
pool, 0, False)
if ok:
selectedMac = str(item)
pBar.reInit(selectedMac)
else:
pBar.close()
return
def run(self):
""" Main Running loop controling bot mode and menu state """
# Show state on OLED display
self.show_message('Booting...')
# Read config file FIRST
self.read_config()
self.show_message('Initialising Bluetooth...')
# Never stop looking for wiimote.
while not self.killed:
if self.oled is not None:
# Show state on OLED display
self.oled.cls() # Clear screen
self.oled.canvas.text(
(10, 10),
'Waiting for WiiMote...',
fill=1)
self.oled.canvas.text(
(10, 30),
'***Press 1+2 now ***',
fill=1)
self.oled.display()
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
# Show state on OLED display
self.show_menu()
# Constantly check wiimote for button presses
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
classic_buttons_state = self.wiimote.get_classic_buttons()
if buttons_state is not None:
if (buttons_state & cwiid.BTN_A and
self.challenge is None):
# Only works when NOT in a challenge
self.menu_item_pressed()
self.show_menu()
if (buttons_state & cwiid.BTN_B):
# Kill any previous Challenge / RC mode
# NOTE: will ALWAYS work
self.stop_threads()
if (buttons_state & cwiid.BTN_UP and
self.challenge is None):
# Only works when NOT in a challenge
self.menu_up()
if (buttons_state & cwiid.BTN_DOWN and
self.challenge is None):
# Only works when NOT in a challenge
self.menu_down()
if classic_buttons_state is not None:
if (classic_buttons_state & cwiid.CLASSIC_BTN_ZL or
classic_buttons_state & cwiid.CLASSIC_BTN_ZR):
# One of the Z buttons pressed, disable
# motors and set neutral.
# NOTE: will ALWAYS work
self.core.enable_motors(False)
else:
# Neither Z buttons pressed,
# allow motors to move freely.
# NOTE: will ALWAYS work
self.core.enable_motors(True)
time.sleep(0.05)
# Verify Wiimote is connected each loop. If not, set wiimote
# to None and it "should" attempt to reconnect.
if not self.wiimote.wm:
self.stop_threads()
self.wiimote = None
def run(self):
""" Main Running loop controling bot mode and menu state """
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Press 1+2 \n')
self.lcd.message('On Wiimote')
# Initiate the drivetrain
self.drive = drivetrain.DriveTrain(pwm_i2c=0x40)
self.wiimote = None
try:
self.wiimote = Wiimote()
except WiimoteException:
logging.error("Could not connect to wiimote. please try again")
if not self.wiimote:
# Tell user how to connect wiimote
self.lcd.clear()
self.lcd.message('Wiimote \n')
self.lcd.message('Not Found' + '\n')
# Constantly check wiimote for button presses
loop_count = 0
while self.wiimote:
buttons_state = self.wiimote.get_buttons()
nunchuk_buttons_state = self.wiimote.get_nunchuk_buttons()
joystick_state = self.wiimote.get_joystick_state()
# logging.info("joystick_state: {0}".format(joystick_state))
# logging.info("button state {0}".format(buttons_state))
# Always show current menu item
# logging.info("Menu: " + self.menu[self.menu_state])
if loop_count >= self.lcd_loop_skip:
# Reset loop count if over
loop_count = 0
self.lcd.clear()
if self.shutting_down:
# How current menu item on LCD
self.lcd.message('Shutting Down Pi' + '\n')
else:
# How current menu item on LCD
self.lcd.message(self.menu[self.menu_state] + '\n')
# If challenge is running, show it on line 2
if self.challenge:
self.lcd.message('[' + self.challenge_name + ']')
# Increment Loop Count
loop_count = loop_count + 1
# Test if B button is pressed
if joystick_state is None or (buttons_state & cwiid.BTN_B) or (
nunchuk_buttons_state & cwiid.NUNCHUK_BTN_Z):
# No nunchuk joystick detected or B or Z button
# pressed, must go into neutral for safety
logging.info("Neutral")
self.set_neutral(self.drive, self.wiimote)
else:
# Enable motors
self.set_drive(self.drive, self.wiimote)
if ((buttons_state & cwiid.BTN_A) or (buttons_state & cwiid.BTN_UP)
or (buttons_state & cwiid.BTN_DOWN)):
# Looking for state change only
if not self.menu_button_pressed and (buttons_state
& cwiid.BTN_A):
# User wants to select a menu item
self.menu_item_selected()
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_UP):
# Decrement menu index
self.menu_state = self.menu_state - 1
if self.menu_state < 0:
# Loop back to end of list
self.menu_state = len(self.menu) - 1
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
elif not self.menu_button_pressed and (buttons_state
& cwiid.BTN_DOWN):
# Increment menu index
self.menu_state = self.menu_state + 1
if self.menu_state >= len(self.menu):
# Loop back to start of list
self.menu_state = 0
logging.info("Menu item: {0}".format(
self.menu[self.menu_state]))
# Only change button state AFTER we have used it
self.menu_button_pressed = True
else:
# No menu buttons pressed
self.menu_button_pressed = False
time.sleep(0.05)
last_pressed = 0
DOUBLECLICK_THRESHOLD = 0.5
def button_pressed():
global last_pressed
# skip on doubleclick
if time() - last_pressed < DOUBLECLICK_THRESHOLD:
skipped()
last_pressed = time()
if __name__ == '__main__':
wiimote = Wiimote(button_callback=button_pressed)
wiimote.pair()
gait_analyzer = GaitAnalyzer(
step_frequency_observer=step_frequency_changed, skip_observer=skipped)
count = 0
SMOOTHING_WINDOW = 2
# array of SMOOTHING_WINDOW*2 + 1 values.
values = []
while True:
if IS_SMOOTHING:
values.append(wiimote.read_accelerometer())
# print values
if len(values) == SMOOTHING_WINDOW * 2 + 1:
# smooth the values and extract x, y, z
x = sum([x for x, y, z in values]) / len(values)
