public DolphiimoteWiimoteData(byte wiimoteNumber, WiimoteCalibration calibration, IMotionPlusFuser fuser)
{
WiimoteNumber = wiimoteNumber;
this.calibration = calibration;
this.fuser = fuser;
MotionPlus = new CalibratedValue<Gyro>(false, new Gyro(0, 0, 0));
Acceleration = new CalibratedValue<Acceleration>(false, new Acceleration(0, 0, 0));
Nunchuck = new Nunchuck
{
Acceleration = new Acceleration(0, 0, 0),
Stick = new AnalogStick(0, 0)
};
ClassicController = new ClassicController
{
LeftStick = new AnalogStick(0,0),
RightStick = new AnalogStick(0,0),
RightTrigger = new AnalogTrigger(0),
LeftTrigger = new AnalogTrigger(0)
};
}
public DolphiimoteWiimoteData(byte wiimoteNumber, WiimoteCalibration calibration, IMotionPlusFuser fuser)
{
WiimoteNumber = wiimoteNumber;
this.calibration = calibration;
this.fuser = fuser;
MotionPlus = new CalibratedValue <Gyro>(false, new Gyro(0, 0, 0));
Acceleration = new CalibratedValue <Acceleration>(false, new Acceleration(0, 0, 0));
Nunchuck = new Nunchuck
{
Acceleration = new Acceleration(0, 0, 0),
Stick = new AnalogStick(0, 0)
};
ClassicController = new ClassicController
{
LeftStick = new AnalogStick(0, 0),
RightStick = new AnalogStick(0, 0),
RightTrigger = new AnalogTrigger(0),
LeftTrigger = new AnalogTrigger(0)
};
Guitar = new Guitar
{
Stick = new AnalogStick(0, 0),
TapBar = new TapBar(0x0F),
Whammy = new AnalogTrigger(0),
IsGH3 = false
};
BalanceBoardSensor def = new BalanceBoardSensor
{
calibration = new BalanceBoardSensorCalibration
{
kg00 = 0,
kg17 = 0,
kg34 = 0
},
kg = 0,
lb = 0,
raw = 0
};
BalanceBoard = new BalanceBoard
{
sensors = new BalanceBoardSensorList
{
bottomLeft = def,
bottomRight = def,
topLeft = def,
topRight = def
},
weight = new BalanceBoardWeight
{
kg = 0,
lb = 0,
raw = 0
},
centerOfGravity = new AnalogStick(0, 0)
};
BatteryPercentage = 0;
}
public void Update(DolphiimoteData rawData)
{
this.data = rawData;
Acceleration = calibration.NormalizeAcceleration(DateTime.Now, rawData.acceleration.x, rawData.acceleration.y, rawData.acceleration.z);
if (IsDataValid(WiimoteDataValid.MotionPlus))
{
MotionPlus = CalculateMotionPlus(rawData.motionplus);
fuser.HandleIMUData(MotionPlus.Value.x, MotionPlus.Value.y, MotionPlus.Value.z, Acceleration.Value.x, Acceleration.Value.y, Acceleration.Value.z);
}
if (IsDataValid(WiimoteDataValid.Nunchuck))
{
Nunchuck = new Nunchuck
{
Stick = calibration.NormalizeNunchuckStick(DateTime.Now,
rawData.nunchuck.stick_x,
rawData.nunchuck.stick_y),
Acceleration = calibration.NormalizeNunchuckAcceleration(DateTime.Now,
rawData.nunchuck.x,
rawData.nunchuck.y,
rawData.nunchuck.z),
Buttons = (NunchuckButtons)data.nunchuck.buttons
};
}
if (IsDataValid(WiimoteDataValid.ClassicController))
{
ClassicController = new ClassicController
{
RightStick = calibration.NormalizeClassicControllerRightStick(DateTime.Now,
map(rawData.classic_controller.right_stick_x, 0, CLASSIC_OTHER_MAX, 0, 200),
map(rawData.classic_controller.right_stick_y, 0, CLASSIC_OTHER_MAX, 0, 200)),
LeftStick = calibration.NormalizeClassicControllerLeftStick(DateTime.Now,
map(rawData.classic_controller.left_stick_x, 0, CLASSIC_LEFT_STICK_MAX, 0, 200),
map(rawData.classic_controller.left_stick_y, 0, CLASSIC_LEFT_STICK_MAX, 0, 200)),
RightTrigger = calibration.NormalizeClassicControllerRightTrigger(DateTime.Now,
map(rawData.classic_controller.right_trigger, 0, CLASSIC_OTHER_MAX, 0, 100)),
LeftTrigger = calibration.NormalizeClassicControllerLeftTrigger(DateTime.Now,
map(rawData.classic_controller.left_trigger, 0, CLASSIC_OTHER_MAX, 0, 100)),
Buttons = (ClassicControllerButtons)data.classic_controller.buttons
};
}
if (IsDataValid(WiimoteDataValid.Guitar))
{
Guitar = new Guitar
{
Stick = calibration.NormalizeGuitarStick(DateTime.Now,
rawData.guitar.stick_x,
rawData.guitar.stick_y),
Whammy = calibration.NormalizeGuitarWhammy(DateTime.Now,
rawData.guitar.whammy_bar),
IsGH3 = rawData.guitar.is_gh3 == 1,
TapBar = new TapBar(rawData.guitar.tap_bar),
Buttons = (GuitarButtons)data.guitar.buttons
};
}
if (IsDataValid(WiimoteDataValid.BalanceBoard))
{
BalanceBoard = new BalanceBoard
{
sensors = new BalanceBoardSensorList
{
bottomLeft = new BalanceBoardSensor
{
calibration = new BalanceBoardSensorCalibration
{
kg00 = rawData.balance_board.calibration_kg0.bottom_left,
kg17 = rawData.balance_board.calibration_kg17.bottom_left,
kg34 = rawData.balance_board.calibration_kg34.bottom_left
},
kg = rawData.balance_board.kg.bottom_left,
lb = rawData.balance_board.lb.bottom_left,
raw = rawData.balance_board.raw.bottom_left
},
bottomRight = new BalanceBoardSensor
{
calibration = new BalanceBoardSensorCalibration
{
kg00 = rawData.balance_board.calibration_kg0.bottom_right,
kg17 = rawData.balance_board.calibration_kg17.bottom_right,
kg34 = rawData.balance_board.calibration_kg34.bottom_right
},
kg = rawData.balance_board.kg.bottom_right,
lb = rawData.balance_board.lb.bottom_right,
raw = rawData.balance_board.raw.bottom_right
},
topLeft = new BalanceBoardSensor
{
calibration = new BalanceBoardSensorCalibration
{
kg00 = rawData.balance_board.calibration_kg0.top_left,
kg17 = rawData.balance_board.calibration_kg17.top_left,
kg34 = rawData.balance_board.calibration_kg34.top_left
},
kg = rawData.balance_board.kg.top_left,
lb = rawData.balance_board.lb.top_left,
raw = rawData.balance_board.raw.top_left
},
topRight = new BalanceBoardSensor
{
calibration = new BalanceBoardSensorCalibration
{
kg00 = rawData.balance_board.calibration_kg0.top_right,
kg17 = rawData.balance_board.calibration_kg17.top_right,
kg34 = rawData.balance_board.calibration_kg34.top_right
},
kg = rawData.balance_board.kg.top_right,
lb = rawData.balance_board.lb.top_right,
raw = rawData.balance_board.raw.top_right
},
},
weight = new BalanceBoardWeight
{
kg = rawData.balance_board.weight_kg,
lb = rawData.balance_board.weight_lb,
raw = rawData.balance_board.raw.bottom_left + rawData.balance_board.raw.bottom_right + rawData.balance_board.raw.top_left + rawData.balance_board.raw.top_right
},
centerOfGravity = new AnalogStick(rawData.balance_board.center_of_gravity_x, rawData.balance_board.center_of_gravity_y)
};
}
}
public void Update(DolphiimoteData rawData)
{
this.data = rawData;
Acceleration = calibration.NormalizeAcceleration(DateTime.Now, rawData.acceleration.x, rawData.acceleration.y, rawData.acceleration.z);
if (IsDataValid(WiimoteDataValid.MotionPlus))
{
MotionPlus = CalculateMotionPlus(rawData.motionplus);
fuser.HandleIMUData(MotionPlus.Value.x, MotionPlus.Value.y, MotionPlus.Value.z, Acceleration.Value.x, Acceleration.Value.y, Acceleration.Value.z);
}
if (IsDataValid(WiimoteDataValid.Nunchuck))
{
Nunchuck = new Nunchuck
{
Stick = calibration.NormalizeNunchuckStick(DateTime.Now,
rawData.nunchuck.stick_x,
rawData.nunchuck.stick_y),
Acceleration = calibration.NormalizeNunchuckAcceleration(DateTime.Now,
rawData.nunchuck.x,
rawData.nunchuck.y,
rawData.nunchuck.z)
};
}
if (IsDataValid(WiimoteDataValid.ClassicController))
{
ClassicController = new ClassicController
{
RightStick = calibration.NormalizeClassicControllerRightStick(DateTime.Now,
rawData.classic_controller.right_stick_x,
rawData.classic_controller.right_stick_y),
LeftStick = calibration.NormalizeClassicControllerLeftStick(DateTime.Now,
rawData.classic_controller.left_stick_x,
rawData.classic_controller.left_stick_y),
RightTrigger = calibration.NormalizeClassicControllerRightTrigger(DateTime.Now,
rawData.classic_controller.right_trigger),
LeftTrigger = calibration.NormalizeClassicControllerLeftTrigger(DateTime.Now,
rawData.classic_controller.left_trigger),
};
}
}