519 lines
18 KiB
C++
519 lines
18 KiB
C++
/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
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This software may be distributed and modified under the terms of the GNU
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General Public License version 2 (GPL2) as published by the Free Software
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Foundation and appearing in the file GPL2.TXT included in the packaging of
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this file. Please note that GPL2 Section 2[b] requires that all works based
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on this software must also be made publicly available under the terms of
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the GPL2 ("Copyleft").
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Contact information
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-------------------
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Kristian Lauszus, TKJ Electronics
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Web : http://www.tkjelectronics.com
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e-mail : kristianl@tkjelectronics.com
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IR camera support added by Allan Glover (adglover9.81@gmail.com) and Kristian Lauszus
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*/
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#ifndef _wii_h_
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#define _wii_h_
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#include "BTD.h"
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#include "controllerEnums.h"
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/* Wii event flags */
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#define WII_FLAG_MOTION_PLUS_CONNECTED (1 << 0)
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#define WII_FLAG_NUNCHUCK_CONNECTED (1 << 1)
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#define WII_FLAG_CALIBRATE_BALANCE_BOARD (1 << 2)
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#define wii_check_flag(flag) (wii_event_flag & (flag))
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#define wii_set_flag(flag) (wii_event_flag |= (flag))
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#define wii_clear_flag(flag) (wii_event_flag &= ~(flag))
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/** Enum used to read the joystick on the Nunchuck. */
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enum HatEnum {
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/** Read the x-axis on the Nunchuck joystick. */
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HatX = 0,
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/** Read the y-axis on the Nunchuck joystick. */
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HatY = 1,
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};
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/** Enum used to read the weight on Wii Balance Board. */
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enum BalanceBoardEnum {
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TopRight = 0,
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BotRight = 1,
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TopLeft = 2,
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BotLeft = 3,
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};
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/**
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* This BluetoothService class implements support for the Wiimote including the Nunchuck and Motion Plus extension.
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*
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* It also support the Wii U Pro Controller.
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*/
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class WII : public BluetoothService {
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public:
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/**
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* Constructor for the WII class.
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* @param p Pointer to BTD class instance.
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* @param pair Set this to true in order to pair with the Wiimote. If the argument is omitted then it won't pair with it.
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* One can use ::PAIR to set it to true.
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*/
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WII(BTD *p, bool pair = false);
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/** @name BluetoothService implementation */
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/** Used this to disconnect any of the controllers. */
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void disconnect();
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/**@}*/
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/** @name Wii Controller functions */
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/**
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* getButtonPress(Button b) will return true as long as the button is held down.
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*
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* While getButtonClick(Button b) will only return it once.
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*
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* So you instance if you need to increase a variable once you would use getButtonClick(Button b),
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* but if you need to drive a robot forward you would use getButtonPress(Button b).
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* @param b ::ButtonEnum to read.
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* @return getButtonPress(ButtonEnum b) will return a true as long as a button is held down, while getButtonClick(ButtonEnum b) will return true once for each button press.
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*/
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bool getButtonPress(ButtonEnum b);
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bool getButtonClick(ButtonEnum b);
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/**@}*/
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/** @name Wii Controller functions */
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/** Call this to start the paring sequence with a controller */
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void pair(void) {
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if(pBtd)
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pBtd->pairWithWiimote();
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};
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/**
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* Used to read the joystick of the Nunchuck.
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* @param a Either ::HatX or ::HatY.
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* @return Return the analog value in the range from approximately 25-230.
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*/
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uint8_t getAnalogHat(HatEnum a);
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/**
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* Used to read the joystick of the Wii U Pro Controller.
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* @param a Either ::LeftHatX, ::LeftHatY, ::RightHatX or ::RightHatY.
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* @return Return the analog value in the range from approximately 800-3200.
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*/
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uint16_t getAnalogHat(AnalogHatEnum a);
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/**
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* Pitch calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
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* @return Pitch in the range from 0-360.
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*/
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double getPitch() {
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if(motionPlusConnected)
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return compPitch;
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return getWiimotePitch();
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};
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/**
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* Roll calculated from the Wiimote. A complimentary filter is used if the Motion Plus is connected.
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* @return Roll in the range from 0-360.
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*/
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double getRoll() {
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if(motionPlusConnected)
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return compRoll;
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return getWiimoteRoll();
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};
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/**
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* This is the yaw calculated by the gyro.
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*
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* <B>NOTE:</B> This angle will drift a lot and is only available if the Motion Plus extension is connected.
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* @return The angle calculated using the gyro.
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*/
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double getYaw() {
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return gyroYaw;
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};
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/** Used to set all LEDs and rumble off. */
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void setAllOff();
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/** Turn off rumble. */
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void setRumbleOff();
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/** Turn on rumble. */
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void setRumbleOn();
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/** Toggle rumble. */
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void setRumbleToggle();
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/**
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* Set LED value without using the ::LEDEnum.
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* @param value See: ::LEDEnum.
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*/
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void setLedRaw(uint8_t value);
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/** Turn all LEDs off. */
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void setLedOff() {
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setLedRaw(0);
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};
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/**
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* Turn the specific ::LEDEnum off.
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* @param a The ::LEDEnum to turn off.
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*/
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void setLedOff(LEDEnum a);
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/**
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* Turn the specific ::LEDEnum on.
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* @param a The ::LEDEnum to turn on.
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*/
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void setLedOn(LEDEnum a);
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/**
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* Toggle the specific ::LEDEnum.
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* @param a The ::LEDEnum to toggle.
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*/
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void setLedToggle(LEDEnum a);
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/**
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* This will set the LEDs, so the user can see which connections are active.
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*
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* The first ::LEDEnum indicate that the Wiimote is connected,
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* the second ::LEDEnum indicate indicate that a Motion Plus is also connected
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* the third ::LEDEnum will indicate that a Nunchuck controller is also connected.
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*/
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void setLedStatus();
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/**
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* Return the battery level of the Wiimote.
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* @return The battery level in the range 0-255.
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*/
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uint8_t getBatteryLevel();
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/**
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* Return the Wiimote state.
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* @return See: http://wiibrew.org/wiki/Wiimote#0x20:_Status.
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*/
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uint8_t getWiiState() {
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return wiiState;
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};
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/**@}*/
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/**@{*/
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/** Variable used to indicate if a Wiimote is connected. */
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bool wiimoteConnected;
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/** Variable used to indicate if a Nunchuck controller is connected. */
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bool nunchuckConnected;
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/** Variable used to indicate if a Nunchuck controller is connected. */
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bool motionPlusConnected;
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/** Variable used to indicate if a Wii U Pro controller is connected. */
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bool wiiUProControllerConnected;
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/** Variable used to indicate if a Wii Balance Board is connected. */
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bool wiiBalanceBoardConnected;
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/**@}*/
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/* IMU Data, might be usefull if you need to do something more advanced than just calculating the angle */
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/**@{*/
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/** Pitch and roll calculated from the accelerometer inside the Wiimote. */
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double getWiimotePitch() {
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return (atan2(accYwiimote, accZwiimote) + PI) * RAD_TO_DEG;
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};
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double getWiimoteRoll() {
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return (atan2(accXwiimote, accZwiimote) + PI) * RAD_TO_DEG;
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};
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/**@}*/
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/**@{*/
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/** Pitch and roll calculated from the accelerometer inside the Nunchuck. */
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double getNunchuckPitch() {
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return (atan2(accYnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
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};
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double getNunchuckRoll() {
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return (atan2(accXnunchuck, accZnunchuck) + PI) * RAD_TO_DEG;
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};
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/**@}*/
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/**@{*/
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/** Accelerometer values used to calculate pitch and roll. */
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int16_t accXwiimote, accYwiimote, accZwiimote;
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int16_t accXnunchuck, accYnunchuck, accZnunchuck;
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/**@}*/
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/* Variables for the gyro inside the Motion Plus */
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/** This is the pitch calculated by the gyro - use this to tune WII#pitchGyroScale. */
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double gyroPitch;
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/** This is the roll calculated by the gyro - use this to tune WII#rollGyroScale. */
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double gyroRoll;
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/** This is the yaw calculated by the gyro - use this to tune WII#yawGyroScale. */
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double gyroYaw;
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/**@{*/
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/** The speed in deg/s from the gyro. */
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double pitchGyroSpeed;
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double rollGyroSpeed;
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double yawGyroSpeed;
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/**@}*/
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/**@{*/
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/** You might need to fine-tune these values. */
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uint16_t pitchGyroScale;
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uint16_t rollGyroScale;
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uint16_t yawGyroScale;
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/**@}*/
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/**@{*/
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/** Raw value read directly from the Motion Plus. */
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int16_t gyroYawRaw;
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int16_t gyroRollRaw;
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int16_t gyroPitchRaw;
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/**@}*/
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/**@{*/
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/** These values are set when the controller is first initialized. */
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int16_t gyroYawZero;
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int16_t gyroRollZero;
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int16_t gyroPitchZero;
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/**@}*/
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/** @name Wii Balance Board functions */
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/**
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* Used to get the weight at the specific position on the Wii Balance Board.
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* @param ::BalanceBoardEnum to read from.
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* @return Returns the weight in kg.
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*/
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float getWeight(BalanceBoardEnum pos);
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/**
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* Used to get total weight on the Wii Balance Board.
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* @returnReturns the weight in kg.
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*/
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float getTotalWeight();
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/**
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* Used to get the raw reading at the specific position on the Wii Balance Board.
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* @param ::BalanceBoardEnum to read from.
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* @return Returns the raw reading.
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*/
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uint16_t getWeightRaw(BalanceBoardEnum pos) {
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return wiiBalanceBoardRaw[pos];
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};
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/**@}*/
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#ifdef WIICAMERA
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/** @name Wiimote IR camera functions
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* You will have to set ::ENABLE_WII_IR_CAMERA in settings.h to 1 in order use the IR camera.
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*/
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/** Initialises the camera as per the steps from: http://wiibrew.org/wiki/Wiimote#IR_Camera */
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void IRinitialize();
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/**
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* IR object 1 x-position read from the Wii IR camera.
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* @return The x-position of the object in the range 0-1023.
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*/
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uint16_t getIRx1() {
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return IR_object_x1;
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};
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/**
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* IR object 1 y-position read from the Wii IR camera.
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* @return The y-position of the object in the range 0-767.
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*/
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uint16_t getIRy1() {
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return IR_object_y1;
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};
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/**
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* IR object 1 size read from the Wii IR camera.
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* @return The size of the object in the range 0-15.
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*/
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uint8_t getIRs1() {
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return IR_object_s1;
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};
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/**
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* IR object 2 x-position read from the Wii IR camera.
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* @return The x-position of the object in the range 0-1023.
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*/
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uint16_t getIRx2() {
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return IR_object_x2;
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};
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/**
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* IR object 2 y-position read from the Wii IR camera.
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* @return The y-position of the object in the range 0-767.
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*/
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uint16_t getIRy2() {
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return IR_object_y2;
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};
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/**
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* IR object 2 size read from the Wii IR camera.
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* @return The size of the object in the range 0-15.
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*/
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uint8_t getIRs2() {
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return IR_object_s2;
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};
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/**
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* IR object 3 x-position read from the Wii IR camera.
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* @return The x-position of the object in the range 0-1023.
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*/
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uint16_t getIRx3() {
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return IR_object_x3;
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};
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/**
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* IR object 3 y-position read from the Wii IR camera.
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* @return The y-position of the object in the range 0-767.
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*/
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uint16_t getIRy3() {
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return IR_object_y3;
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};
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/**
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* IR object 3 size read from the Wii IR camera.
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* @return The size of the object in the range 0-15.
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*/
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uint8_t getIRs3() {
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return IR_object_s3;
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};
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/**
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* IR object 4 x-position read from the Wii IR camera.
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* @return The x-position of the object in the range 0-1023.
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*/
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uint16_t getIRx4() {
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return IR_object_x4;
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};
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/**
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* IR object 4 y-position read from the Wii IR camera.
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* @return The y-position of the object in the range 0-767.
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*/
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uint16_t getIRy4() {
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return IR_object_y4;
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};
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/**
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* IR object 4 size read from the Wii IR camera.
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* @return The size of the object in the range 0-15.
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*/
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uint8_t getIRs4() {
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return IR_object_s4;
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};
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/**
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* Use this to check if the camera is enabled or not.
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* If not call WII#IRinitialize to initialize the IR camera.
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* @return True if it's enabled, false if not.
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*/
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bool isIRCameraEnabled() {
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return (wiiState & 0x08);
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};
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/**@}*/
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#endif
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protected:
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/** @name BluetoothService implementation */
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/**
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* Used to pass acldata to the services.
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* @param ACLData Incoming acldata.
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*/
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void ACLData(uint8_t* ACLData);
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/** Used to run part of the state machine. */
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void Run();
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/** Use this to reset the service. */
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void Reset();
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/**
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* Called when the controller is successfully initialized.
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* Use attachOnInit(void (*funcOnInit)(void)) to call your own function.
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* This is useful for instance if you want to set the LEDs in a specific way.
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*/
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void onInit();
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/**@}*/
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private:
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void L2CAP_task(); // L2CAP state machine
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/* Variables filled from HCI event management */
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bool activeConnection; // Used to indicate if it's already has established a connection
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/* Variables used by high level L2CAP task */
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uint8_t l2cap_state;
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uint8_t wii_event_flag; // Used for Wii flags
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uint32_t ButtonState;
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uint32_t OldButtonState;
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uint32_t ButtonClickState;
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uint16_t hatValues[4];
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uint8_t HIDBuffer[3]; // Used to store HID commands
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uint16_t stateCounter;
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bool unknownExtensionConnected;
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bool extensionConnected;
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bool checkBatteryLevel; // Set to true when getBatteryLevel() is called otherwise if should be false
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bool motionPlusInside; // True if it's a new Wiimote with the Motion Plus extension build into it
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/* L2CAP Channels */
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uint8_t control_scid[2]; // L2CAP source CID for HID_Control
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uint8_t control_dcid[2]; // 0x0060
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uint8_t interrupt_scid[2]; // L2CAP source CID for HID_Interrupt
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uint8_t interrupt_dcid[2]; // 0x0061
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/* HID Commands */
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void HID_Command(uint8_t* data, uint8_t nbytes);
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void setReportMode(bool continuous, uint8_t mode);
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void writeData(uint32_t offset, uint8_t size, uint8_t* data);
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void initExtension1();
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void initExtension2();
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void statusRequest(); // Used to update the Wiimote state and battery level
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void readData(uint32_t offset, uint16_t size, bool EEPROM);
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void readExtensionType();
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void readCalData();
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void readWiiBalanceBoardCalibration(); // Used by the library to read the Wii Balance Board calibration values
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void checkMotionPresent(); // Used to see if a Motion Plus is connected to the Wiimote
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void initMotionPlus();
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void activateMotionPlus();
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uint16_t wiiBalanceBoardRaw[4]; // Wii Balance Board raw values
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uint16_t wiiBalanceBoardCal[3][4]; // Wii Balance Board calibration values
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double compPitch; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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double compRoll; // Fusioned angle using a complimentary filter if the Motion Plus is connected
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bool activateNunchuck;
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bool motionValuesReset; // This bool is true when the gyro values has been reset
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uint32_t timer;
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uint8_t wiiState; // Stores the value in l2capinbuf[12] - (0x01: Battery is nearly empty), (0x02: An Extension Controller is connected), (0x04: Speaker enabled), (0x08: IR enabled), (0x10: LED1, 0x20: LED2, 0x40: LED3, 0x80: LED4)
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uint8_t batteryLevel;
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#ifdef WIICAMERA
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/* Private function and variables for the readings from the IR Camera */
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void enableIRCamera1(); // Sets bit 2 of output report 13
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void enableIRCamera2(); // Sets bit 2 of output report 1A
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void writeSensitivityBlock1();
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void writeSensitivityBlock2();
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void write0x08Value();
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void setWiiModeNumber(uint8_t mode_number);
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uint16_t IR_object_x1; // IR x position 10 bits
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uint16_t IR_object_y1; // IR y position 10 bits
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uint8_t IR_object_s1; // IR size value
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uint16_t IR_object_x2;
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uint16_t IR_object_y2;
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uint8_t IR_object_s2;
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uint16_t IR_object_x3; // IR x position 10 bits
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uint16_t IR_object_y3; // IR y position 10 bits
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uint8_t IR_object_s3; // IR size value
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uint16_t IR_object_x4;
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uint16_t IR_object_y4;
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uint8_t IR_object_s4;
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#endif
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};
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#endif
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