Five pictures will be posted up.
Project source code will be postedArduino Sketch<pre>#include <Wire.h>#include <string.h>#include <stdio.h> uint8_t outbuf[6];int cnt = 0;int ledPin = 13;int servoPin = 7; // Control pin for servo motorint servoPin2 = 6;int pulseWidth = 0; // Amount to pulse the servoint pulseWidth2 = 0;long lastPulse = 0;long lastPulse2 = 0;int z_button = 0;int c_button = 0;int refreshTime = 20; // The time in millisecs needeed in between pulsesint minPulse = 1000; // Minimum pulse widthint minPulse2 = 500;int dtime=10; #define pwbuffsize 10long pwbuff[pwbuffsize];long pwbuffpos = 0;long pwbuff2[pwbuffsize];long pwbuffpos2 = 0; void setup(){ beginSerial (19200); Wire.begin (); nunchuck_init (); pinMode(servoPin, OUTPUT); // Set servo pin as an output pin pinMode(servoPin2, OUTPUT); pulseWidth = minPulse; // Set the motor position to the minimum pulseWidth2 = minPulse2; Serial.print ("Finished setup\n");} void nunchuck_init(){ Wire.beginTransmission (0x52); Wire.send (0x40); Wire.send (0x00); Wire.endTransmission ();} void send_zero(){ Wire.beginTransmission (0x52); Wire.send (0x00); Wire.endTransmission ();} int t = 0; void loop(){ t++; long last = millis(); if( t == 1) { t = 0; Wire.requestFrom (0x52, 6); while (Wire.available ()) { outbuf[cnt] = nunchuk_decode_byte (Wire.receive ()); digitalWrite (ledPin, HIGH); cnt++; } if (cnt >= 5) { // printNunchuckData(); int z_button = 0; int c_button = 0; if ((outbuf[5] >> 0) & 1) z_button = 1; if ((outbuf[5] >> 1) & 1) c_button = 1; switch (c_button) { case 1: switch (z_button) { case 0: break; case 1: muovi(); break; } break; case 0: switch (z_button) { case 0: delay(10000); break; case 1: delay(3000); break; } break; } } cnt = 0; send_zero(); } // if(t==) updateServo // Update servo position delay(dtime);} void updateServo() { if (millis() - lastPulse >= refreshTime) { digitalWrite(servoPin, HIGH); delayMicroseconds(pulseWidth); digitalWrite(servoPin, LOW); digitalWrite(servoPin2, HIGH); delayMicroseconds(pulseWidth2); digitalWrite(servoPin2, LOW); lastPulse = millis(); }} int i=0;void printNunchuckData(){ int joy_x_axis = outbuf[0]; int joy_y_axis = outbuf[1]; int accel_x_axis = outbuf[2]; // * 2 * 2; int accel_y_axis = outbuf[3]; // * 2 * 2; int accel_z_axis = outbuf[4]; // * 2 * 2; int z_button = 0; int c_button = 0; if ((outbuf[5] >> 0) & 1) z_button = 1; if ((outbuf[5] >> 1) & 1) c_button = 1; if ((outbuf[5] >> 2) & 1) accel_x_axis += 2; if ((outbuf[5] >> 3) & 1) accel_x_axis += 1; if ((outbuf[5] >> 4) & 1) accel_y_axis += 2; if ((outbuf[5] >> 5) & 1) accel_y_axis += 1; if ((outbuf[5] >> 6) & 1) accel_z_axis += 2; if ((outbuf[5] >> 7) & 1) accel_z_axis += 1; Serial.print (i,DEC); Serial.print ("\t"); Serial.print ("X: "); Serial.print (joy_x_axis, DEC); Serial.print ("\t"); Serial.print ("Y: "); Serial.print (joy_y_axis, DEC); Serial.print ("\t"); Serial.print ("AccX: "); Serial.print (accel_x_axis, DEC); Serial.print ("\t"); Serial.print ("AccY: "); Serial.print (accel_y_axis, DEC); Serial.print ("\t"); Serial.print ("AccZ: "); Serial.print (accel_z_axis, DEC); Serial.print ("\t"); Serial.print (z_button, DEC); Serial.print (" "); Serial.print (c_button, DEC); Serial.print ("\r\n"); i++;} char nunchuk_decode_byte (char x){ x = (x ^ 0x17) + 0x17; return x;} void muovi (){ float tilt = (700 - outbuf[3]*2*2); float tilt2 = outbuf[2]*2*2; tilt = (tilt); pulseWidth = (tilt * 5) + minPulse; tilt2 = (tilt2-288); pulseWidth2 = (tilt2 * 5) + minPulse2; pwbuff[pwbuffpos] = pulseWidth; pwbuff2[pwbuffpos2] = pulseWidth2; if( ++pwbuffpos == pwbuffsize ) pwbuffpos = 0; if( ++pwbuffpos2 == pwbuffsize ) pwbuffpos2 = 0; pulseWidth=0; pulseWidth2=0; for( int p=0; p<pwbuffsize; p++ ){ pulseWidth += pwbuff[p]; pulseWidth2 += pwbuff2[p]; } pulseWidth /= pwbuffsize; pulseWidth2 /= pwbuffsize;}</pre>
