AMiRo-OS

void shellRequestWiiSteering(BaseSequentialStream* chp, int argc, char *argv[]) {

  // if Wii steering is currently active, stop it

  if (global.userThread.getCurrenState() == UserThread::WII_STEERING) {

    global.userThread.setNextState(UserThread::IDLE);

  }

  // check arguments and (try to) enable Wii steering

  else {

    // if arguments invalid

    if (argc < 1 || argc > 2 || global.userThread.setWiiAddress(argv[0]) != RDY_OK) {

      chprintf(chp, "Warning: invalid arguments\n");

      chprintf(chp, "Usage: %s\n", "wii_steering <address> [<deadzone>]");

      chprintf(chp, "\n");

      chprintf(chp, "\taddress\n");

      chprintf(chp, "bluetooth address of the Wiimote controller to pair with.\n");

      chprintf(chp, "\tdeadzone\n");

      chprintf(chp, "deadzone to set for the Wiimote controller [default = 10%%].\n");

      return;

    }

    else {

      // set deadzone

      const float deadzone = global.userThread.setWiiDeadzone((argc == 2) ? std::atof(argv[1]) : 0.1f);

      chprintf(chp, "deadzone set to %u%%\n", (unsigned int)(deadzone * 100.0f));

      // start Wii steering behaviour

      global.userThread.setNextState(UserThread::WII_STEERING);

    }

  }

  return;

}

  {"wii_steering", shellRequestWiiSteering},