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Source code used to build WiMo 

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Legal mumbo jumbo:  The information on this site is provided "AS IS" with no warranties, and confers no rights.

While I do my best to make sure that all the information is correct and up-to-date, mistakes do happen.  If you think you see a mistake or something that is unclear, please email me and let me know so that I can fix it. 		Last Updated: 1.18.07

If you've made it this far, you are interested in seeing the source code that went into building WiMo.  That's great!  One of the main purposes of WiMo is to help provide sample code for the various technologies in Windows Mobile.  Even if you aren't interested in building a robot, I hope that this code helps you in whatever other project you may be working on.  While I will try to comment the code, I may post the code before I have "cleaned it up" in order to let you see it earlier rather than later.  If you have any questions about the code, please don't hesitate to email me at wimo@wimobot.com.

Interested in the Wimo APIs? Go check out the new  online help section.  Or download the help locally

As for the legal mumbo jumbo:  This source code is provided "AS IS" with no warranties, and confers no rights.

I am no longer going to separate the code into separate downloads.  It's more work to package up, and i think it is confusing to have so many zip files. 

Source Code

You can find all the files available for download in the new Download section of the WiMo Garage.

Precompiled Installs

There are two main parts to wimo.  The device code and the MSRS code that runs on the desktop.  I have an install for both of those components if you'd just like to install them and play with the application and services.

Again, you can find all the files available for download in the new Download section of the WiMo Garage.

you can deploy the WimoMsrs.msrs via the following command:

dssdeploy /unpack /target:<path> WimoMsrs.msrs

You can choose any path for <path>.  You'll be able to run it from there independently from your MSRS installation directory

To Launch Wimo

  1. Launch the Wimo application on the device
  2. Choose the hardware you are running on via the options menu
  3. Make sure your hardware (Aggressor, NXT, etc) is ready (ex: powered on) to accept the bluetooth connection from your device
  4. Choose to listen via TCP or Serial.  If you choose TCP, the device will connect to the Wimo hardware upon a successful TCP connection.  If you choose Serial, it will connect to the hardware right away.
  5. Launch the MSRS services (either view the wimo.bat in the MSRS directory) or the WimoUI.msvpl file in the MSRS\VPL\WimoUi director
To launch the MSRS side of things, you have two options right now: load the wimoui.mvpl file found in MSRS\VPL\WimoUI into the Visual Programming Language tool that comes with MSRS and then hit F5 (assuming you have built the MSRS projects below).  Or you can manually load the wimoui service from the root of your MSRS install directory via:

dsshost /port:50000 /tcpport:50001 /dll:bin\services\wimoui.y2006.m07.dll

Project Breakdown

Below is a break down of what the various projects are for in Wimo.  Feel free to grab what you want, even if you aren't building a Wimo.

Project
(click for documentation)		 Description
Wimo.Bluetooth
 This is basically the Managed Bluetooth classes
Wimo.Common

Class Diagram of the Wimo Common APIs		 Wimo.Common contains most of the common classes that are used both on the desktop as well as the device.  You'll find the main communication classes (WimoNet and derived), Microcontroller classes (and derived), and Hardware classes.

In this version, i have abstracted the Microcontroller and Hardware into separate classes so that it is easier to plug in new hardware and not have to change the main wimo application everywhere.  So this also allows the single Wimo binary to work with all of the Wimo platforms!

Check out the documentation for all of the classes included, but some are:
  • SmsTransport.cs: This is the class that is used to transport data over Sms.  Use this class inconjunction with the DesktopSms class. The DesktopSms class returns objects of SmsTransport when it receives an sms.
  • WimoCommand.cs:  General command class used to tell WiMo to do something.  This is used to tell WiMo to move, dance, turn the camera on, etc.  This is what is sent over WiFi currently from the alternate brain (desktop or ppc) to the smartphone that is on WiMo.
  • WiMoNet.cs: This class is used to send and receive WimoCommands, Text, Xml, and Images.  WiMoNet will package up your data and send it over Tcp or a Serial Port (depending on which WiMoNet you use).  On the other side, you can register for a data received event. 
  • Microcontroller classes: The code for the Nxt Brick and variations of the OOPic
Wimo.Common.Device This is the project that has device specific common code. 

  • Camera.cs: This is the same class that is posted below.  In my WiMo implementation, the class lives in the WimoShared library.  Camera is a nice C# library that allows you to capture images from the camera (it requires WimoNative.dll)
  • DesktopSms.cs: A class that intercepts messages that come from the alternate brain (which is ultimately going to be the desktop).  This class is used for transmitting commands via SMS (ex: via Email).  Right now it is only used to initiate the connection.
Wimo This is the main Wimo device-side application. 
You can install it using the cab that the WimoSetup project builds.

Once installed, you'll see a Wimo folder in your start menu.
WimoSetup
 Device Cab Project that generates the cab to install on your device
WimoNative Native Dll for any methods that need to be implemented using native code.

currently, this is only used to call into DirectShow.  the Camera class in Wimo.Common uses this dll
WimoComm This is the main MSRS service at this point.  WimoComm does all of the work to communicate with Wimo. 

I have plans to create more services for Wimo, but for now, most of them are included in this single service.
WimoUi This is my Wimo UI MSRS service.  This is the UI that is used on the desktop to control Wimo.  it is definitely not the best UI in the world, but it works for now.  I will pretty it up later, but i'd rather get cooler things working first :) 

This service partners with the WimoComm service for all of the communication.  When this service is launched it brings up a dialog asking for a serial port or ip address.  If you enter an ip address (ex: 127.0.0.1 ) it will connect to Wimo via TCP, if you enter a com port (ex: 7) it will open that com port and attempt to connect to wimo.

once a connection is made, a fairly blank form will appear.  The following keys will work while that form is in focus:

  • Arrow keys: Move Wimo
  • Spacebar: Stop Wimo
  • V: Toggle Video Mode
  • S: Speak (in this version, Wimo will only display the text.  He will not speak it.  sorry).
  • D: Dance
  • Z: (NXT only) will turn wimo a little to the left
  • X: (NXT only) will turn wimo a little to the right
WimoPhotoViewer A MSRS service that brings up a form that can show photos that Wimo has taken.  You don't need to use this to play with wimo, but if you start playing with the services in the Visual Programming Language, you may like to have the form. 

For instance, you can hook up the ReplaceCurrentImage notification to the WimoPhotoViewer and it will display the Image whenever one comes through.
WimoDrive A MSRS service that implements the Generic Drive system provided in MSRS.  This service isn't complete and i plan on finishing it later, but figured I'd let everyone play with it anyway. 

currently, wimo doesn't have any type of encoders on its motors, so i just use a "timed" value for the distance and angles.

I plan on implementing the Motor service as well for Wimo.