ntwii

Control your FRC robot with a wiimote.

Motivation

yes.

Running the Program

You're going to need some tools to get started.

• A working C++ compiler (clang, gcc, MSVC, etc.)
• Git
• CMake
• Ninja

Once you clone the repo, download external dependencies.

git submodules update --init --recursive

You're going to want to configure the program to connect to your robot/development environment. At the top of the src/main.cc file, there's two constants. Make sure to change them to your liking.

// Configure me!
constexpr unsigned int TEAM_NUMBER = 2234;
constexpr bool DEBUG = true; // (enable to connect to local simulation)

// ... rest of code ...

Then, compile in typical CMake fashion.

mkdir build
cd build
cmake .. -G "Ninja"
ninja -j16 # where 16 = the number of physical CPU cores you have. If unsure, omit.

The executable file will be in the build folder, named ntwii.exe (no exe extention if not on Windows)

Running the file will first wait for a NetworkTables connection (connection w/ robot), and will then attempt to connect to the Wii controller.

IMPORTANT!

You must connect the Wii controller to Windows first. Go to Settings->Bluetooth->Add a Device. The Wii controllers do not speak perfect Bluetooth and as such, require a bit of coaxing to get working.

If it asks you for a PIN, there is no valid PIN. Press cancel and try again. If you're not getting anywhere, restart Bluetooth by turning it off and on again.

Do not use a Wiimote driver! They will alter how the Wiimote communicates with the program and probably break things.

In Robot Code

The program will spit out raw Wiimote gyro data into the ntwii network table. The structure will be identical to the one defined in src/main.cc:

struct WiimoteData {
    // Gyro data
    double pitch, roll, yaw;
    // Button states
    bool a, b, one, two, plus, minus, home;
};