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Fixed MAC address #54

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Fixed MAC address #54

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8 changes: 7 additions & 1 deletion wiimote/nodes/wiimote_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,13 @@ def runWiimoteNode(self):
# and are handled there:

rospy.init_node('wiimote', anonymous=True, log_level=rospy.ERROR) # log_level=rospy.DEBUG
wiimoteDevice = wiimote.WIIMote.WIIMote()
self.addr = rospy.get_param("~fixed_wiimote_address","")

if ":" in self.addr :
wiimoteDevice = wiimote.WIIMote.WIIMote(self.addr)
else :
wiimoteDevice = wiimote.WIIMote.WIIMote()

wiimoteDevice.zeroDevice()

try:
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20 changes: 14 additions & 6 deletions wiimote/src/wiimote/WIIMote.py
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Original file line number Diff line number Diff line change
Expand Up @@ -92,16 +92,15 @@ class WIIMote(object):


"""

# Public constants:

BATTERY_MAX = cwiid.BATTERY_MAX # 208 a.k.a. 0xD0

# Public vars:


_fixed_addr = False
_addr = ""
# Private constants:


# Private vars:

Expand Down Expand Up @@ -132,7 +131,7 @@ class WIIMote(object):
# __init__
#------------------

def __init__(self, theSampleRate=0, wiiStateLock=None, gatherCalibrationStats=False):
def __init__(self, addr="", theSampleRate=0, wiiStateLock=None, gatherCalibrationStats=False):
"""Instantiate a Wiimote driver instance, which controls one physical Wiimote device.

Parameters:
Expand All @@ -142,6 +141,12 @@ def __init__(self, theSampleRate=0, wiiStateLock=None, gatherCalibrationStats=Fa
theSampleRate= x: every x seconds
"""

# Use fixed MAC address for wiimote if available
self._addr = addr
if ":" in self._addr :
self._fixed_addr = True


self.lastZeroingTime = 0.

self.gatherCalibrationStats = gatherCalibrationStats
Expand Down Expand Up @@ -189,7 +194,10 @@ def __init__(self, theSampleRate=0, wiiStateLock=None, gatherCalibrationStats=Fa
promptUsr("Press buttons 1 and 2 together to pair (within 6 seconds).\n (If no blinking lights, press power button for ~3 seconds.)")

try:
self._wm = cwiid.Wiimote()
if self._fixed_addr :
self._wm = cwiid.Wiimote(self._addr)
else :
self._wm = cwiid.Wiimote()
except RuntimeError:
raise WiimoteNotFoundError("No Wiimote found to pair with.")
exit()
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