WitMotion BWT901CL: Nine axis Bluetooth attitude angle sensor

Supported hardware devices

• Link to manufacturer's website: http://www.wit-motion.com/english.php?m=text&a=index&classify_id=46395

Supported platforms

• Windows 32 bits
• Windows 64 bits

BlueTooth Installation

• Other WitMotion devices may be used with this configuration but this section is meant for setting up the BlueTooth version on Windows 10
  • Make sure Bluetooth is enabled (Settings-Devices-Bluetooth On)
  • Click Add Bluetooth or other device
  • Click Bluetooth, make sure accelerometer 1 is turned on and flashing blue
  • Enter PIN to pair (1234)
  • Should be labelled as HC-06 (Or Unknown Device)
  • In Bluetooth settings, click on more Bluetooth options
  • Click on COM Ports and take note of the outgoing COM Port number
  • Use this COM Port number for Serial Port number in the config file

Device configuration settings

• 
  Type = "WitMotionTracker"
  
• 
  AcquisitionRate
  

  Default = "20"
• 
  LocalTimeOffsetSec
  

  Default = "0"
• 
  ToolReferenceFrame
  

  Default = "Tracker"
• 
  SerialPort Used COM port number for serial communication (ComPort: 1 => Port name: "COM1").
  

  Default = "5"
• 
  BaudRate Baud rate for serial communication.
  

  Default = "115200"
• 
  DataSources Exactly one DataSource child element is required.
  
  • 
    DataSource
    
    • 
      PortName = "OrientationSensor"
      
    • 
      BufferSize
      

      Default = "150"
    • 
      AveragedItemsForFiltering
      

      Default = "20"

Example configuration file PlusDeviceSet_Server_WitMotionTracker.xml

<PlusConfiguration version="2.1">
  <DataCollection StartupDelaySec="1.0">
    <DeviceSet 
      Name="PlusServer: WitMotion motion module" 
      Description="Collecting orientation data from a WitMotion JY901 motion module and broadcasting through OpenIGTLink"
    />
    <Device 
      Id="TrackerDevice"
      Type="WitMotionTracker"
      SerialPort="9"
      BaudRate="115200"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="Accel" PortName="OrientationSensor" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerChannel">
          <DataSource Id="Accel"/>
        </OutputChannel>
      </OutputChannels>
    </Device>    
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerChannel" />
      </InputChannels>
    </Device>
  </DataCollection>
  
  <PlusOpenIGTLinkServer 
    MaxNumberOfIgtlMessagesToSend="1" 
    MaxTimeSpentWithProcessingMs="50" 
    ListeningPort="18944" 
    OutputChannelId="TrackerChannel"
    > 
    <DefaultClientInfo> 
      <MessageTypes> 
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames> 
        <Transform Name="AccelToTracker" />
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer> 
</PlusConfiguration>