In the case of the robot which is not an autonomy type, it is necessary to perform control from the outside. In the case of the robot which belongs to radio control, it carries out by プロポ in many cases, but the controller of a game machine is used or PC and the controller for the games are used in many cases. In these days, the controller has also evolved according to evolution of PC and a game machine. Some controllers of a game machine can also use PC. RoboShellControl is a concept which treats those controllers systematically. Wii of Nintendo which was put on the market recently is capturing the spotlight in every direction from the uniqueness of the controller. It is the sample software for using this controller this time. WiiRemconTest is introduced.
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Yet another remote control method
The serial interface from PC is used for development, adjustment, and control by many robots which made two-foot walk the start. In early stages of development or adjustment, it connects with a cable, and reliability and stability are raised. Although a cable may be used in control, in order to extend a robot's sphere of activity more, it carries out on radio in many cases. An original standard, Bluetooth, WiFi, etc. are used for the connection form in radio. Anyway, a robot can be controlled if a command is sent serially.
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Outline
The newest non-portable type game machine of Nintendo The variety of information of the controller of Wii is read with PC, and the control character sequence registered corresponding to the reading information is sent out to a robot from a serial.
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Principle
Input device dealt with with PC It can treat systematically as HID (Human Interface Device). The controller of Wii is also not from an exception but from PC. Bluetooth was used. It is recognized as HID. By the leader's analysis result, since the control method was solved mostly, it performed this mounting for them to origin.
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Usage
- It enables it to use Bluetooth.
It enables it to use BT beforehand with reference to a manual etc. Since it is dependent on each environment, it omits for details.
- Search of a Wii controller (Bluetooth search of a device)
From a search screen A Wii controller is searched.
- Connection of a Wii controller (Bluetooth connection of a device)
Wii It will connect, if remote control is found.
- the application of others [ process / so far ] -- the same -
- Starting of WiiRemconTest
It downloaded beforehand and thawed. WiiRemconTest is started. It is used for connection with a robot. Com A port is arranged.
- WiiRemconTest Check of operation
When it has in a hand and a few is moved, it turns out that an analog value changes. If it is not changing Since the WiiRemconTest is not operating, it reboots.
- Connection with a robot
It connects with the form (cable and radio-WiFi, BT, and pro plastic,proprietary) connected usually.
- Make and Break
There is Make/Break as status of a digital switch,
Since it becomes the handling by edge, each body will hold the state where a switch is continuing being pushed etc.
- The definition of command strings
The command which makes a robot control is mapped on each button.
- Feedback control
Wii Remote control is equipped with LED and an oscillating function. These are individually controllable.
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Download
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Future
- Improve framework
It enables it to mount mounting and expanded function of a gesture function which are described later.
- Implementation of extended feature
It enables it to also use a nunchaku controller and a classic controller.
- Implementation of a gesture function
Wii If it is called remote control, a melon will tell variegated gesture direct to a game machine. This gesture is not registered, and the data taken in from the acceleration sensor is determined after analyzing, a definite period of time and. That is, it moves by analyzing an individual motion beforehand and judging it in real time. It mounts from now on, taking in these results fortunately, since analysis is progressing also about this field.
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Acknowledgement
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