probably got balance-calibration to work;

renamed everything to "wiimote" internally;
added message "report <name> <flag>"

svn path=/trunk/externals/hardware/wiimote/; revision=12529

1 files changed, 205 insertions, 157 deletions

diff --git a/wiimote.c b/wiimote.c
index 99af4fb..a13ee76 100644
--- a/wiimote.c
+++ b/wiimote.c
@@ -1,5 +1,5 @@
 // ===================================================================
-// Wiiremote external for Puredata
+// Wiimote external for Puredata
 // Written by Mike Wozniewki (Feb 2007), www.mikewoz.com
 //
 // Requires the CWiid library (version 0.6.00) by L. Donnie Smith
@@ -22,7 +22,7 @@
 
 //  ChangeLog:
 //  2008-04-14 Florian Krebs 
-//  * adapt wiiremote external for the actual version of cwiid (0.6.00)
+//  * adapt wiimote external for the actual version of cwiid (0.6.00)
 //  2009-09-14 IOhannes m zmölnig
 //    * made it compile without private cwiid-headers
 
@@ -43,61 +43,62 @@ struct acc {
 	unsigned char z;
 };
 
-// class and struct declarations for wiiremote pd external:
-static t_class *wiiremote_class;
-typedef struct _wiiremote
+// class and struct declarations for wiimote pd external:
+static t_class *wiimote_class;
+typedef struct _wiimote
 {
 	t_object x_obj; // standard pd object (must be first in struct)
 	
-	cwiid_wiimote_t *wiiremote; // individual wiiremote handle per pd object, represented in libcwiid
+	cwiid_wiimote_t *wiimote; // individual wiimote handle per pd object, represented in libcwiid
 
 	t_float connected;
-	int wiiremoteID;
+	int wiimoteID;
 
 
 	int reportMode;
 
 	struct acc_cal acc_cal; /* calibration for built-in accelerometer */
 	struct acc_cal nc_acc_cal;  /* calibration for nunchuk accelerometer */
+  struct balance_cal balance_cal;
 
 	// outlets:
 	t_outlet *outlet_data;	
-} t_wiiremote;
+} t_wiimote;
 
 
-// For now, we make one global t_wiiremote pointer that we can refer to
+// For now, we make one global t_wiimote pointer that we can refer to
 // in the cwiid_callback. This means we can support maximum of ONE
-// wiiremote. ARGH. We'll have to figure out how to have access to the
+// wiimote. ARGH. We'll have to figure out how to have access to the
 // pd object from the callback (without modifying the CWiid code):
-#define MAX_WIIREMOTES 14
+#define MAX_WIIMOTES 14
 
-typedef struct _wiiremoteList {
-  t_wiiremote*x;
+typedef struct _wiimoteList {
+  t_wiimote*x;
   int id;
-  struct _wiiremoteList*next;
-} t_wiiremoteList;
+  struct _wiimoteList*next;
+} t_wiimoteList;
 
-t_wiiremoteList*g_wiiremoteList=NULL;
+t_wiimoteList*g_wiimoteList=NULL;
 
-static int addWiiremoteObject(t_wiiremote*x, int id) {
-  t_wiiremoteList*wl=g_wiiremoteList;
-  t_wiiremoteList*newentry=NULL;
+static int addWiimoteObject(t_wiimote*x, int id) {
+  t_wiimoteList*wl=g_wiimoteList;
+  t_wiimoteList*newentry=NULL;
   if(NULL!=wl) {
     while(wl->next) {
       
       if(wl->x == x) {
-        pd_error(x, "[wiiremote]: already bound to Wii%02d", wl->id);
+        pd_error(x, "[wiimote]: already bound to Wii%02d", wl->id);
         return 0;
       }
       if(wl->id == id) {
-        pd_error(x, "[wiiremote]: another object is already bound to Wii%02d", wl->id);
+        pd_error(x, "[wiimote]: another object is already bound to Wii%02d", wl->id);
         return 0;
       }
       wl=wl->next;
     }
   }
 
-  newentry=(t_wiiremoteList*)getbytes(sizeof(t_wiiremoteList));
+  newentry=(t_wiimoteList*)getbytes(sizeof(t_wiimoteList));
   newentry->next=NULL;
   newentry->x=x;
   newentry->id=id;
@@ -105,13 +106,13 @@ static int addWiiremoteObject(t_wiiremote*x, int id) {
   if(wl)
     wl->next=newentry;
   else 
-    g_wiiremoteList=newentry;
+    g_wiimoteList=newentry;
 
   return 1;
 }
 
-static t_wiiremote*getWiiremoteObject(const int id) {
-  t_wiiremoteList*wl=g_wiiremoteList;
+static t_wiimote*getWiimoteObject(const int id) {
+  t_wiimoteList*wl=g_wiimoteList;
   if(NULL==wl)
     return NULL;
 
@@ -124,9 +125,9 @@ static t_wiiremote*getWiiremoteObject(const int id) {
   return NULL;
 }
 
-static void removeWiiremoteObject(const t_wiiremote*x) {
-  t_wiiremoteList*wl=g_wiiremoteList;
-  t_wiiremoteList*last=NULL;
+static void removeWiimoteObject(const t_wiimote*x) {
+  t_wiimoteList*wl=g_wiimoteList;
+  t_wiimoteList*last=NULL;
   if(NULL==wl)
     return;
 
@@ -135,12 +136,12 @@ static void removeWiiremoteObject(const t_wiiremote*x) {
       if(last) {
         last->next=wl->next;
       } else {
-        g_wiiremoteList=wl->next;
+        g_wiimoteList=wl->next;
       }
       wl->x=NULL;
       wl->id=0;
       wl->next=NULL;
-      freebytes(wl, sizeof(t_wiiremoteList));
+      freebytes(wl, sizeof(t_wiimoteList));
 
       return;
     }
@@ -152,11 +153,11 @@ static void removeWiiremoteObject(const t_wiiremote*x) {
 
 
 // ==============================================================
-static void wiiremote_debug(t_wiiremote *x)
+static void wiimote_debug(t_wiimote *x)
 {
 	post("\n======================");
-	if (x->connected) post("Wiiremote (id: %d) is connected.", x->wiiremoteID);
-	else post("Wiiremote (id: %d) is NOT connected.", x->wiiremoteID);
+	if (x->connected) post("Wiimote (id: %d) is connected.", x->wiimoteID);
+	else post("Wiimote (id: %d) is NOT connected.", x->wiimoteID);
   post("acceleration: %s", (x->reportMode & CWIID_RPT_ACC)?"ON":"OFF");
   post("IR: %s", (x->reportMode & CWIID_RPT_IR)?"ON":"OFF");
   post("extensions: %s",  (x->reportMode & CWIID_RPT_EXT)?"ON":"OFF");
@@ -174,7 +175,7 @@ static void wiiremote_debug(t_wiiremote *x)
 
 // ==============================================================
 
-static void wiiremote_cwiid_battery(t_wiiremote *x, int battery)
+static void wiimote_cwiid_battery(t_wiimote *x, int battery)
 {
 	t_atom ap[1];
 	t_float bat=(1.f*battery) / CWIID_BATTERY_MAX;
@@ -187,7 +188,7 @@ static void wiiremote_cwiid_battery(t_wiiremote *x, int battery)
 }
 
 // Button handler:
-static void wiiremote_cwiid_btn(t_wiiremote *x, struct cwiid_btn_mesg *mesg)
+static void wiimote_cwiid_btn(t_wiimote *x, struct cwiid_btn_mesg *mesg)
 {
 	t_atom ap[2];
 	SETFLOAT(ap+0, (mesg->buttons & 0xFF00)>>8);
@@ -196,7 +197,7 @@ static void wiiremote_cwiid_btn(t_wiiremote *x, struct cwiid_btn_mesg *mesg)
 }
 
 
-static void wiiremote_cwiid_acc(t_wiiremote *x, struct cwiid_acc_mesg *mesg)
+static void wiimote_cwiid_acc(t_wiimote *x, struct cwiid_acc_mesg *mesg)
 {
 	double a_x, a_y, a_z;
 	t_atom ap[3];
@@ -222,7 +223,7 @@ static void wiiremote_cwiid_acc(t_wiiremote *x, struct cwiid_acc_mesg *mesg)
 	
 }
 
-static void wiiremote_cwiid_ir(t_wiiremote *x, struct cwiid_ir_mesg *mesg)
+static void wiimote_cwiid_ir(t_wiimote *x, struct cwiid_ir_mesg *mesg)
 {
 	unsigned int i;
 
@@ -239,7 +240,7 @@ static void wiiremote_cwiid_ir(t_wiiremote *x, struct cwiid_ir_mesg *mesg)
 	}
 }
 
-static void wiiremote_cwiid_nunchuk(t_wiiremote *x, struct cwiid_nunchuk_mesg *mesg)
+static void wiimote_cwiid_nunchuk(t_wiimote *x, struct cwiid_nunchuk_mesg *mesg)
 {
 	t_atom ap[4];
 	double a_x, a_y, a_z;
@@ -280,7 +281,7 @@ static void wiiremote_cwiid_nunchuk(t_wiiremote *x, struct cwiid_nunchuk_mesg *m
 }
 
 #ifdef CWIID_RPT_CLASSIC
-static void wiiremote_cwiid_classic(t_wiiremote *x, struct cwiid_classic_mesg *mesg)
+static void wiimote_cwiid_classic(t_wiimote *x, struct cwiid_classic_mesg *mesg)
 {
 	t_atom ap[3];
 
@@ -318,32 +319,43 @@ static void wiiremote_cwiid_classic(t_wiiremote *x, struct cwiid_classic_mesg *m
 
 #ifdef CWIID_RPT_BALANCE
 #warning Balance ignores calibration data
-static void wiiremote_cwiid_balance_output(t_wiiremote *x, t_symbol*s, uint16_t value[3], t_float scale)
+
+static void wiimote_cwiid_balance_output(t_wiimote *x, t_symbol*s, uint16_t value, uint16_t calibration[3])
 {
-	t_atom ap[4];
-	t_float a = scale*value[CWIID_X];
-	t_float b = scale*value[CWIID_Y];
-	t_float c = scale*value[CWIID_Z];
+  /*
+    1700 appears to be the step the calibrations are against.
+    17kg per sensor is 68kg, 1/2 of the advertised Japanese weight limit.
+  */
+#define WIIMOTE_BALANCE_CALWEIGHT 1700.f
+	t_atom ap[2];
 
+  t_float weight=0;
+  t_float falue=value;
+  if(calibration) {
+    if(value<calibration[1]) {
+      weight = WIIMOTE_BALANCE_CALWEIGHT * (falue - calibration[0]) / (calibration[1]-calibration[0]);
+    } else {
+      weight = WIIMOTE_BALANCE_CALWEIGHT * (1 + (falue - calibration[1]) / (calibration[2]-calibration[1]));
+    }
+  } else {
+    weight=falue;
+  }
 	SETSYMBOL(ap+0, s);
-	SETFLOAT (ap+1, a);
-	SETFLOAT (ap+2, b);
-	SETFLOAT (ap+3, c);
-	outlet_anything(x->outlet_data, gensym("balance"), 4, ap);
+	SETFLOAT (ap+1, weight);
+	outlet_anything(x->outlet_data, gensym("balance"), 2, ap);
 }
 
-static void wiiremote_cwiid_balance(t_wiiremote *x, struct cwiid_balance_mesg *mesg)
+static void wiimote_cwiid_balance(t_wiimote *x, struct cwiid_balance_mesg *mesg)
 {
-	t_float scale = 1.f / ((uint16_t)0xFFFF);
-	wiiremote_cwiid_balance_output(x, gensym("right_top"), &mesg->right_top, scale);
-	wiiremote_cwiid_balance_output(x, gensym("right_bottom"), &mesg->right_bottom, scale);
-	wiiremote_cwiid_balance_output(x, gensym("left_top"), &mesg->left_top, scale);
-	wiiremote_cwiid_balance_output(x, gensym("left_bottom"), &mesg->left_bottom, scale);
+	wiimote_cwiid_balance_output(x, gensym("right_top"),    mesg->right_top,    x->balance_cal.right_top);
+	wiimote_cwiid_balance_output(x, gensym("right_bottom"), mesg->right_bottom, x->balance_cal.right_bottom);
+	wiimote_cwiid_balance_output(x, gensym("left_top"),     mesg->left_top,     x->balance_cal.left_top);
+	wiimote_cwiid_balance_output(x, gensym("left_bottom"),  mesg->left_bottom,  x->balance_cal.left_bottom);
 }
 #endif
 
 #ifdef CWIID_RPT_MOTIONPLUS
-static void wiiremote_cwiid_motionplus(t_wiiremote *x, struct cwiid_motionplus_mesg *mesg)
+static void wiimote_cwiid_motionplus(t_wiimote *x, struct cwiid_motionplus_mesg *mesg)
 {
 	t_atom ap[4];
 	t_float scale = 1.f;// / ((uint16_t)0xFFFF);
@@ -379,17 +391,18 @@ static void wiiremote_cwiid_motionplus(t_wiiremote *x, struct cwiid_motionplus_m
 
 
 
-static void wiiremote_cwiid_message(t_wiiremote *x, union cwiid_mesg mesg) {
+static void wiimote_cwiid_message(t_wiimote *x, union cwiid_mesg mesg) {
 	switch (mesg.type) {
 	case CWIID_MESG_STATUS:
-		wiiremote_cwiid_battery(x, mesg.status_mesg.battery);
+		wiimote_cwiid_battery(x, mesg.status_mesg.battery);
 		switch (mesg.status_mesg.ext_type) {
 		case CWIID_EXT_NONE:
 			post("No extension attached");
 			break;
 		case CWIID_EXT_NUNCHUK:
+#ifdef CWIID_RPT_NUNCHCUK
 			post("Nunchuk extension attached");
-			if(cwiid_get_acc_cal(x->wiiremote, CWIID_EXT_NUNCHUK, &x->nc_acc_cal)) {
+			if(cwiid_get_acc_cal(x->wiimote, CWIID_EXT_NUNCHUK, &x->nc_acc_cal)) {
 				post("Unable to retrieve nunchuk calibration");
 			} else {
 				post("Retrieved nunchuk calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
@@ -401,16 +414,25 @@ static void wiiremote_cwiid_message(t_wiiremote *x, union cwiid_mesg mesg) {
 						 x->nc_acc_cal.one [CWIID_Z]);
 			}
 			break;
+#endif
+#ifdef CWIID_RPT_CLASSIC
 		case CWIID_EXT_CLASSIC:
 			post("Classic controller attached. There is no support for this yet.");
 			break;
+#endif
+#ifdef CWIID_RPT_BALANCE
 		case CWIID_EXT_BALANCE:
-			post("Balance controller attached. There is no support for this yet.");
+			if(cwiid_get_balance_cal(x->wiimote, &x->balance_cal)) {
+				post("Unable to retrieve balance calibration");
+      }
 			break;
+#endif
+#ifdef CWIID_RPT_MOTIONPLUS
 		case CWIID_EXT_MOTIONPLUS:
 			post("MotionPlus controller attached.");
 			/* no calibration needed for MotionPlus */
 			break;
+#endif
 		case CWIID_EXT_UNKNOWN:
 			post("Unknown extension attached");
 			break;
@@ -420,33 +442,33 @@ static void wiiremote_cwiid_message(t_wiiremote *x, union cwiid_mesg mesg) {
 		}
 		break;
 	case CWIID_MESG_BTN:
-		wiiremote_cwiid_btn(x, &mesg.btn_mesg);
+		wiimote_cwiid_btn(x, &mesg.btn_mesg);
 		break;
 	case CWIID_MESG_ACC:
-		wiiremote_cwiid_acc(x, &mesg.acc_mesg);
+		wiimote_cwiid_acc(x, &mesg.acc_mesg);
 		break;
 	case CWIID_MESG_IR:
-		wiiremote_cwiid_ir(x, &mesg.ir_mesg);
+		wiimote_cwiid_ir(x, &mesg.ir_mesg);
 		break;
 #ifdef CWIID_RPT_NUNCHUK
 	case CWIID_MESG_NUNCHUK:
-		wiiremote_cwiid_nunchuk(x, &mesg.nunchuk_mesg);
+		wiimote_cwiid_nunchuk(x, &mesg.nunchuk_mesg);
 		break;
 #endif
 #ifdef CWIID_RPT_CLASSIC
 	case CWIID_MESG_CLASSIC:
-		wiiremote_cwiid_classic(x, &mesg.classic_mesg);
+		wiimote_cwiid_classic(x, &mesg.classic_mesg);
 		// todo
 		break;
 #endif
 #ifdef CWIID_RPT_MOTIONPLUS
 	case CWIID_MESG_MOTIONPLUS:
-		wiiremote_cwiid_motionplus(x, &mesg.motionplus_mesg);
+		wiimote_cwiid_motionplus(x, &mesg.motionplus_mesg);
 		break;
 #endif
 #ifdef CWIID_RPT_BALANCE
 	case CWIID_MESG_BALANCE:
-		wiiremote_cwiid_balance(x, &mesg.balance_mesg);
+		wiimote_cwiid_balance(x, &mesg.balance_mesg);
 		break;
 #endif
 	default:
@@ -472,24 +494,24 @@ static void print_timestamp(struct timespec*timestamp, struct timespec*reference
 
 
 // The CWiid library invokes a callback function whenever events are
-// generated by the wiiremote. This function is specified when connecting
-// to the wiiremote (in the cwiid_open function).
+// generated by the wiimote. This function is specified when connecting
+// to the wiimote (in the cwiid_open function).
 
 // Unfortunately, the mesg struct passed as an argument to the
-// callback does not have a pointer to the wiiremote instance, and it
-// is thus impossible to know which wiiremote-object has invoked the callback.
+// callback does not have a pointer to the wiimote instance, and it
+// is thus impossible to know which wiimote-object has invoked the callback.
 // For this case we provide a hard-coded set of wrapper callbacks to
-// indicate which Pd wiiremote instance to control.
+// indicate which Pd wiimote instance to control.
 
-// So far I have only checked with one wiiremote
+// So far I have only checked with one wiimote
 
-/*void cwiid_callback(cwiid_wiiremote_t *wiimt, int mesg_count, union cwiid_mesg *mesg[], struct timespec *timestamp)
+/*void cwiid_callback(cwiid_wiimote_t *wiimt, int mesg_count, union cwiid_mesg *mesg[], struct timespec *timestamp)
 */
-static void cwiid_callback(cwiid_wiimote_t *wiiremote, int mesg_count,
+static void cwiid_callback(cwiid_wiimote_t *wiimote, int mesg_count,
                     union cwiid_mesg mesg_array[], struct timespec *timestamp)
 {
 	int i;
-  t_wiiremote *x=NULL;
+  t_wiimote *x=NULL;
 
 	static struct timespec*ts=NULL;
 	if(NULL==ts) {
@@ -498,111 +520,135 @@ static void cwiid_callback(cwiid_wiimote_t *wiiremote, int mesg_count,
 		ts->tv_nsec =timestamp->tv_nsec;
 	}
 
-  if(g_wiiremoteList==NULL||wiiremote==NULL) {
+  if(g_wiimoteList==NULL||wiimote==NULL) {
     post("no wii's known");
     return;
   }
-  x=getWiiremoteObject(cwiid_get_id(wiiremote));
+  x=getWiimoteObject(cwiid_get_id(wiimote));
   if(NULL==x) {
-		post("no wiiremote loaded: %d%",cwiid_get_id(wiiremote));
+		post("no wiimote loaded: %d%",cwiid_get_id(wiimote));
     return;
 	}
 
   //print_timestamp(timestamp, ts);
   for (i=0; i < mesg_count; i++) {
-		wiiremote_cwiid_message(x, mesg_array[i]);
+		wiimote_cwiid_message(x, mesg_array[i]);
 	}
 }
 
 // ==============================================================
 
-static void wiiremote_status(t_wiiremote *x)
+static void wiimote_status(t_wiimote *x)
 {
 	if(x->connected) {
-		if (cwiid_request_status(x->wiiremote)) {
+		if (cwiid_request_status(x->wiimote)) {
 			pd_error(x, "error requesting status message");
 		}
 	}
 }
 
 
-static void wiiremote_resetReportMode(t_wiiremote *x)
+static void wiimote_resetReportMode(t_wiimote *x)
 {
 	if (x->connected)	{
-		verbose(1, "changing report mode for Wii%02d to %d", x->wiiremoteID, x->reportMode);
-		if (cwiid_command(x->wiiremote, CWIID_CMD_RPT_MODE, x->reportMode)) {
-			post("wiiremote error: problem setting report mode.");
+		verbose(1, "changing report mode for Wii%02d to %d", x->wiimoteID, x->reportMode);
+		if (cwiid_command(x->wiimote, CWIID_CMD_RPT_MODE, x->reportMode)) {
+			post("wiimote error: problem setting report mode.");
 		}
 	}
 }
 
 
-static void wiiremote_setReportMode(t_wiiremote *x, t_floatarg r)
+static void wiimote_setReportMode(t_wiimote *x, t_floatarg r)
 {
 	if (r >= 0) {
 		x->reportMode = (int) r;
-		wiiremote_resetReportMode(x);
+		wiimote_resetReportMode(x);
 	}	else {
 		return;
 	}
 }
 
 
-static void wiiremote_report(t_wiiremote*x, int flag, int onoff)
+static void wiimote_report(t_wiimote*x, t_symbol*s, int onoff)
 {
-	if(onoff) {
-		x->reportMode |= flag;
-	} else {
-		x->reportMode &= ~flag;
-	}
-	wiiremote_resetReportMode(x);
+  int flag=-1;
+  if(gensym("status")==s) flag=CWIID_RPT_STATUS;
+  else if(gensym("button")==s) flag=CWIID_RPT_BTN;
+  else if(gensym("acceleration")==s) flag=CWIID_RPT_ACC;
+  else if(gensym("ir")==s) flag=CWIID_RPT_IR;
+#ifdef CWIID_RPT_NUNCHUK
+  else if(gensym("nunchuk")==s) flag=CWIID_RPT_NUNCHUK;
+#endif
+#ifdef CWIID_RPT_CLASSIC
+  else if(gensym("classic")==s) flag=CWIID_RPT_CLASSIC;
+#endif
+#ifdef CWIID_RPT_BALANCE
+  else if(gensym("balance")==s) flag=CWIID_RPT_BALANCE;
+#endif
+#ifdef CWIID_RPT_MOTIONPLUS
+  else if(gensym("motionplus")==s) flag=CWIID_RPT_MOTIONPLUS;
+#endif
+  else if(gensym("ext")==s) flag=CWIID_RPT_EXT;
+  else {
+    pd_error(x, "unknown report mode '%s'", s->s_name);
+  }
+
+  if(flag!=-1) {
+    if(onoff) {
+      x->reportMode |= flag;
+    } else {
+      x->reportMode &= ~flag;
+    }
+  }
+	wiimote_resetReportMode(x);
 }
 
-static void wiiremote_reportAcceleration(t_wiiremote *x, t_floatarg f)
+static void wiimote_reportAcceleration(t_wiimote *x, t_floatarg f)
 {
-	wiiremote_report(x, CWIID_RPT_ACC, f);
+	wiimote_report(x, gensym("acceleration"), f);
 }
 
-static void wiiremote_reportIR(t_wiiremote *x, t_floatarg f)
+static void wiimote_reportIR(t_wiimote *x, t_floatarg f)
 {
-	wiiremote_report(x, CWIID_RPT_IR, f);
+	wiimote_report(x, gensym("ir"), f);
 }
 
-static void wiiremote_reportNunchuk(t_wiiremote *x, t_floatarg f)
+static void wiimote_reportNunchuk(t_wiimote *x, t_floatarg f)
 {
-	wiiremote_report(x, CWIID_RPT_EXT, f);
+	wiimote_report(x, gensym("nunchuck"), f);
 }
 
-static void wiiremote_reportMotionplus(t_wiiremote *x, t_floatarg f)
+static void wiimote_reportMotionplus(t_wiimote *x, t_floatarg f)
 {
 #ifdef CWIID_RPT_MOTIONPLUS
 	int flag=f;
 	if (x->connected)	{
-		verbose(1, "changing motionplus report mode for Wii%02d to %d", x->wiiremoteID, flag);
+		verbose(1, "changing motionplus report mode for Wii%02d to %d", x->wiimoteID, flag);
 		int err=0;
 		if(flag) {
-			err=cwiid_enable(x->wiiremote, CWIID_FLAG_MOTIONPLUS);
+			err=cwiid_enable(x->wiimote, CWIID_FLAG_MOTIONPLUS);
 		} else {
-			err=cwiid_disable(x->wiiremote, CWIID_FLAG_MOTIONPLUS);
+			err=cwiid_disable(x->wiimote, CWIID_FLAG_MOTIONPLUS);
 		}
 		if(err) {
 			pd_error(x, "turning %s motionplus returned %d", (flag?"on":"off"), err);
 		} else {
-			wiiremote_report(x, CWIID_RPT_MOTIONPLUS, f);
+			wiimote_report(x, gensym("motionplus"), f);
 		}
 	}
 #endif
 }
 
-static void wiiremote_setRumble(t_wiiremote *x, t_floatarg f)
+static void wiimote_setRumble(t_wiimote *x, t_floatarg f)
 {
 	if (x->connected)
 	{
-		if (cwiid_command(x->wiiremote, CWIID_CMD_RUMBLE, f)) post("wiiremote error: problem setting rumble.");
+		if (cwiid_command(x->wiimote, CWIID_CMD_RUMBLE, f)) post("wiimote error: problem setting rumble.");
 	}
 }
 
-static void wiiremote_setLED(t_wiiremote *x, t_floatarg f)
+static void wiimote_setLED(t_wiimote *x, t_floatarg f)
 {
 	// some possible values:
 	// CWIID_LED0_ON		0x01
@@ -611,7 +657,7 @@ static void wiiremote_setLED(t_wiiremote *x, t_floatarg f)
 	// CWIID_LED3_ON		0x08
 	if (x->connected)
 	{
-		if (cwiid_command(x->wiiremote, CWIID_CMD_LED, f)) post("wiiremote error: problem setting LED.");
+		if (cwiid_command(x->wiimote, CWIID_CMD_LED, f)) post("wiimote error: problem setting LED.");
 	}
 }
 
@@ -620,13 +666,13 @@ static void wiiremote_setLED(t_wiiremote *x, t_floatarg f)
 // ==============================================================
 
 
-// The following function attempts to connect to a wiiremote at a
+// The following function attempts to connect to a wiimote at a
 // specific address, provided as an argument. eg, 00:19:1D:70:CE:72
 // This address can be discovered by running the following command
 // in a console:
 //   hcitool scan | grep Nintendo
 
-static void wiiremote_doConnect(t_wiiremote *x, t_symbol *addr, t_symbol *dongaddr)
+static void wiimote_doConnect(t_wiimote *x, t_symbol *addr, t_symbol *dongaddr)
 {
 	bdaddr_t bdaddr;
 	unsigned int flags =  CWIID_FLAG_MESG_IFC;
@@ -657,31 +703,31 @@ static void wiiremote_doConnect(t_wiiremote *x, t_symbol *addr, t_symbol *dongad
 
 
 #if 0
-  x->wiiremote = cwiid_open(&bdaddr, dong_bdaddr_ptr, flags);
+  x->wiimote = cwiid_open(&bdaddr, dong_bdaddr_ptr, flags);
 #else
-#warning multi-dongle support...
-  x->wiiremote = cwiid_open(&bdaddr, flags);
+#warning multi-dongle support missing...
+  x->wiimote = cwiid_open(&bdaddr, flags);
 #endif
 
-  if(NULL==x->wiiremote) {
-		post("wiiremote error: unable to connect");
+  if(NULL==x->wiimote) {
+		post("wiimote error: unable to connect");
     return;
   }
 
-  if(!addWiiremoteObject(x, cwiid_get_id(x->wiiremote))) {
-    cwiid_close(x->wiiremote);
-    x->wiiremote=NULL;
+  if(!addWiimoteObject(x, cwiid_get_id(x->wiimote))) {
+    cwiid_close(x->wiimote);
+    x->wiimote=NULL;
     return;
   }
 
-  x->wiiremoteID= cwiid_get_id(x->wiiremote);
+  x->wiimoteID= cwiid_get_id(x->wiimote);
   
-  post("wiiremote %i is successfully connected", x->wiiremoteID);
+  post("wiimote %i is successfully connected", x->wiimoteID);
 
-	if(cwiid_get_acc_cal(x->wiiremote, CWIID_EXT_NONE, &x->acc_cal)) {
+	if(cwiid_get_acc_cal(x->wiimote, CWIID_EXT_NONE, &x->acc_cal)) {
     post("Unable to retrieve accelerometer calibration");
   } else {
-    post("Retrieved wiiremote calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
+    post("Retrieved wiimote calibration: zero=(%02d,%02d,%02d) one=(%02d,%02d,%02d)",
 				 x->acc_cal.zero[CWIID_X],
 				 x->acc_cal.zero[CWIID_Y],
 				 x->acc_cal.zero[CWIID_Z],
@@ -694,41 +740,41 @@ static void wiiremote_doConnect(t_wiiremote *x, t_symbol *addr, t_symbol *dongad
 
 	x->reportMode |= CWIID_RPT_STATUS;
 	x->reportMode |= CWIID_RPT_BTN;
-  wiiremote_resetReportMode(x);
+  wiimote_resetReportMode(x);
 
-  if (cwiid_set_mesg_callback(x->wiiremote, &cwiid_callback)) {
+  if (cwiid_set_mesg_callback(x->wiimote, &cwiid_callback)) {
     pd_error(x, "Unable to set message callback");
   }
 }
 
-// The following function attempts to discover a wiiremote. It requires
-// that the user puts the wiiremote into 'discoverable' mode before being
+// The following function attempts to discover a wiimote. It requires
+// that the user puts the wiimote into 'discoverable' mode before being
 // called. This is done by pressing the red button under the battery
 // cover, or by pressing buttons 1 and 2 simultaneously.
 // TODO: Without pressing the buttons, I get a segmentation error. So far, I don't know why.
 
-static void wiiremote_discover(t_wiiremote *x)
+static void wiimote_discover(t_wiimote *x)
 {
-	post("Put the wiiremote into discover mode by pressing buttons 1 and 2 simultaneously.");
+	post("Put the wiimote into discover mode by pressing buttons 1 and 2 simultaneously.");
 		
-	wiiremote_doConnect(x, NULL, gensym("NULL"));
+	wiimote_doConnect(x, NULL, gensym("NULL"));
 	if (!(x->connected))
 	{
-		post("Error: could not find any wiiremotes. Please ensure that bluetooth is enabled, and that the 		'hcitool scan' command lists your Nintendo device.");
+		post("Error: could not find any wiimotes. Please ensure that bluetooth is enabled, and that the 		'hcitool scan' command lists your Nintendo device.");
 	}
 }
 
-static void wiiremote_doDisconnect(t_wiiremote *x)
+static void wiimote_doDisconnect(t_wiimote *x)
 {
 		
 	if (x->connected)
 	{
-		if (cwiid_close(x->wiiremote)) {
-			post("wiiremote error: problems when disconnecting.");
+		if (cwiid_close(x->wiimote)) {
+			post("wiimote error: problems when disconnecting.");
 		} 
 		else {
 			post("disconnect successfull, resetting values");
-            removeWiiremoteObject(x);
+            removeWiimoteObject(x);
 			x->connected = 0;
 		}
 	}
@@ -740,16 +786,16 @@ static void wiiremote_doDisconnect(t_wiiremote *x)
 // ==============================================================
 // ==============================================================
 
-static void *wiiremote_new(t_symbol*s, int argc, t_atom *argv)
+static void *wiimote_new(t_symbol*s, int argc, t_atom *argv)
 {
-	t_wiiremote *x = (t_wiiremote *)pd_new(wiiremote_class);
+	t_wiimote *x = (t_wiimote *)pd_new(wiimote_class);
 	
 	// create outlets:
 	x->outlet_data = outlet_new(&x->x_obj, NULL);
 
 	// initialize toggles:
 	x->connected = 0;
-	x->wiiremoteID = -1;
+	x->wiimoteID = -1;
 	
 		// connect if user provided an address as an argument:
 		
@@ -758,9 +804,9 @@ static void *wiiremote_new(t_symbol*s, int argc, t_atom *argv)
 		post("[%s] connecting to provided address...", s->s_name);
 		if (argv->a_type == A_SYMBOL)
 		{
-			wiiremote_doConnect(x, NULL, atom_getsymbol(argv));
+			wiimote_doConnect(x, NULL, atom_getsymbol(argv));
 		} else {
-			error("[wiiremote] expects either no argument, or a bluetooth address as an argument. eg, 00:19:1D:70:CE:72");
+			error("[wiimote] expects either no argument, or a bluetooth address as an argument. eg, 00:19:1D:70:CE:72");
 			return NULL;
 		}
 	}
@@ -768,38 +814,40 @@ static void *wiiremote_new(t_symbol*s, int argc, t_atom *argv)
 }
 
 
-static void wiiremote_free(t_wiiremote* x)
+static void wiimote_free(t_wiimote* x)
 {
-	wiiremote_doDisconnect(x);
+	wiimote_doDisconnect(x);
 }
 
-void wiiremote_setup(void)
+void wiimote_setup(void)
 {
-	wiiremote_class = class_new(gensym("wiiremote"), (t_newmethod)wiiremote_new, (t_method)wiiremote_free, sizeof(t_wiiremote), CLASS_DEFAULT, A_GIMME, 0);
+	wiimote_class = class_new(gensym("wiimote"), (t_newmethod)wiimote_new, (t_method)wiimote_free, sizeof(t_wiimote), CLASS_DEFAULT, A_GIMME, 0);
 
-	class_addmethod(wiiremote_class, (t_method) wiiremote_debug, gensym("debug"), 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_status, gensym("status"), 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_debug, gensym("debug"), 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_status, gensym("status"), 0);
 
 
 	/* connection settings */
-	class_addmethod(wiiremote_class, (t_method) wiiremote_doConnect, gensym("connect"), A_DEFSYMBOL, A_DEFSYMBOL, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_doDisconnect, gensym("disconnect"), 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_discover, gensym("discover"), 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_doConnect, gensym("connect"), A_DEFSYMBOL, A_DEFSYMBOL, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_doDisconnect, gensym("disconnect"), 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_discover, gensym("discover"), 0);
 
 
 	/* query data */
-	class_addmethod(wiiremote_class, (t_method) wiiremote_setReportMode, gensym("setReportMode"), A_DEFFLOAT, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_reportAcceleration, gensym("reportAcceleration"), A_DEFFLOAT, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_reportIR, gensym("reportIR"), A_DEFFLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_report, gensym("report"), A_SYMBOL, A_FLOAT, 0);
+
+	class_addmethod(wiimote_class, (t_method) wiimote_setReportMode, gensym("setReportMode"), A_FLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_reportAcceleration, gensym("reportAcceleration"), A_FLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_reportIR, gensym("reportIR"), A_FLOAT, 0);
 
-	class_addmethod(wiiremote_class, (t_method) wiiremote_reportNunchuk, gensym("reportNunchuck"), A_DEFFLOAT, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_reportNunchuk, gensym("reportNunchuk"), A_DEFFLOAT, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_reportMotionplus, gensym("reportMotionplus"), A_DEFFLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_reportNunchuk, gensym("reportNunchuck"), A_FLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_reportNunchuk, gensym("reportNunchuk"), A_FLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_reportMotionplus, gensym("reportMotionplus"), A_FLOAT, 0);
 
 
 	/* set things on the wiimote */
-	class_addmethod(wiiremote_class, (t_method) wiiremote_setRumble, gensym("setRumble"), A_DEFFLOAT, 0);
-	class_addmethod(wiiremote_class, (t_method) wiiremote_setLED, gensym("setLED"), A_DEFFLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_setRumble, gensym("setRumble"), A_FLOAT, 0);
+	class_addmethod(wiimote_class, (t_method) wiimote_setLED, gensym("setLED"), A_FLOAT, 0);
 }