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// Honus 2007
// This allows the use of a Wii nunchuck as an input device and is modified/extended from the original code
// by Tod E. Kurt and Windmeadow Labs
// 2007 Tod E. Kurt, http://todbot.com/blog/
// The Wii Nunchuck reading code is taken from Windmeadow Labs, http://www.windmeadow.com/node/42
// Further updated and coded for Manual Mode of 2 servos when WiiNunchuck ZButton is pushed.
// By: Raymond Willis Jr., 2013, email at willisjr24@yahoo.com
#include "Wire.h"
int ledPin1 = 8; // Control pin for LED 1
int servoPin1 = 5; // Control pin for servo motor
int servoPin2 = 6; // Control pin for servo motor
int pulseWidth1 = 2; // Amount to pulse the servo 1
int pulseWidth2 = 2; // Amount to pulse the servo 2
int refreshTime = 30; // the time in millisecs needed in between pulses
long lastPulse1;
long lastPulse2;
int minPulse = 700; // minimum pulse width
int loop_cnt=0;
void setup()
{
Serial.begin(19200);
pinMode(servoPin1, OUTPUT); // Set servo pin as an output pin
pinMode(servoPin2, OUTPUT); // Set servo pin as an output pin
pulseWidth1 = minPulse; // Set the motor position to the minimum
pulseWidth2 = minPulse; // Set the motor position to the minimum
nunchuck_init(); // send the initilization handshake
Serial.print("NunchuckServo ready\n");
}
void loop()
{
checkNunchuck1();
updateServo1(); // update servo 1 position
checkNunchuck2();
updateServo2(); // update servo 2 position
if( nunchuck_cbutton() ) // light the LED if c button is pressed
digitalWrite(ledPin1, HIGH);
else
digitalWrite(ledPin1,LOW);
delay(2.5); // this is here to give a known time per loop
}
void checkNunchuck1()
{
if( loop_cnt > 100 ) { // loop()s is every 1msec, this is every 100msec
nunchuck_get_data();
nunchuck_print_data();
if( nunchuck_zbutton() ) // Manual Control if z button is pressed
{
float tilt = nunchuck_joyx(); // x-axis, in this case ranges from ~70 - ~185
tilt = (tilt - 70) * 1.5; // convert to angle in degrees, roughly
pulseWidth1 = (tilt * 9) + minPulse; // convert angle to microseconds
}
else
{
float tilt = nunchuck_accelx(); // x-axis, in this case ranges from ~70 - ~185
tilt = (tilt - 70) * 1.5; // convert to angle in degrees, roughly
pulseWidth1 = (tilt * 9) + minPulse; // convert angle to microseconds
}
loop_cnt = 0; // reset for
}
loop_cnt++;
}
// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo1()
{
// pulse the servo again if rhe refresh time (20 ms) have passed:
if (millis() - lastPulse1 >= refreshTime) {
digitalWrite(servoPin1, HIGH); // Turn the motor on
delayMicroseconds(pulseWidth1); // Length of the pulse sets the motor position
digitalWrite(servoPin1, LOW); // Turn the motor off
lastPulse1 = millis(); // save the time of the last pulse
}
}
void checkNunchuck2()
{
if( loop_cnt > 100 ) { // loop()s is every 1msec, this is every 100msec
nunchuck_get_data();
nunchuck_print_data();
if( nunchuck_zbutton() ) // Manual Control if z button is pressed
{
float tilt = nunchuck_joyy(); // y-axis, in this case ranges from ~70 - ~185
tilt = (tilt - 70) * 1.5; // convert to angle in degrees, roughly
pulseWidth2 = (tilt * 9) + minPulse; // convert angle to microseconds
}
else
{
float tilt = nunchuck_accely(); // y-axis, in this case ranges from ~70 - ~185
tilt = (tilt - 70) * 1.5; // convert to angle in degrees, roughly
pulseWidth2 = (tilt * 9) + minPulse; // convert angle to microseconds
}
loop_cnt = 0; // reset for
}
loop_cnt++;
}
// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo2()
{
// pulse the servo again if rhe refresh time (20 ms) have passed:
if (millis() - lastPulse2 >= refreshTime) {
digitalWrite(servoPin2, HIGH); // Turn the motor on
delayMicroseconds(pulseWidth2); // Length of the pulse sets the motor position
digitalWrite(servoPin2, LOW); // Turn the motor off
lastPulse2 = millis(); // save the time of the last pulse
}
}
//
// Nunchuck functions
//
static uint8_t nunchuck_buf[6]; // array to store nunchuck data,
// initialize the I2C system, join the I2C bus,
// and tell the nunchuck we're talking to it
void nunchuck_init()
{
Wire.begin(); // join i2c bus as master
Wire.beginTransmission(0x52); // transmit to device 0x52
Wire.write(0x40); // sends memory address
Wire.write(0x00); // sends sent a zero.
Wire.endTransmission(); // stop transmitting
}
// Send a request for data to the nunchuck
// was "send_zero()"
void nunchuck_send_request()
{
Wire.beginTransmission(0x52); // transmit to device 0x52
Wire.write(0x00); // sends one byte
Wire.endTransmission(); // stop transmitting
}
// Receive data back from the nunchuck,
// returns 1 on successful read. returns 0 on failure
int nunchuck_get_data()
{
int cnt=0;
Wire.requestFrom (0x52, 6); // request data from nunchuck
while (Wire.available ()) {
// receive byte as an integer
nunchuck_buf[cnt] = nunchuk_decode_byte(Wire.read());
cnt++;
}
nunchuck_send_request(); // send request for next data payload
// If we recieved the 6 bytes, then go print them
if (cnt >= 5) {
return 1; // success
}
return 0; //failure
}
// Print the input data we have recieved
// accel data is 10 bits long
// so we read 8 bits, then we have to add
// on the last 2 bits. That is why I
// multiply them by 2 * 2
void nunchuck_print_data()
{
static int i=0;
int joy_x_axis = nunchuck_buf[0];
int joy_y_axis = nunchuck_buf[1];
int accel_x_axis = nunchuck_buf[2]; // * 2 * 2;
int accel_y_axis = nunchuck_buf[3]; // * 2 * 2;
int accel_z_axis = nunchuck_buf[4]; // * 2 * 2;
int z_button = 0;
int c_button = 0;
// byte nunchuck_buf[5] contains bits for z and c buttons
// it also contains the least significant bits for the accelerometer data
// so we have to check each bit of byte outbuf[5]
if ((nunchuck_buf[5] >> 0) & 1)
z_button = 1;
if ((nunchuck_buf[5] >> 1) & 1)
c_button = 1;
if ((nunchuck_buf[5] >> 2) & 1)
accel_x_axis += 2;
if ((nunchuck_buf[5] >> 3) & 1)
accel_x_axis += 1;
if ((nunchuck_buf[5] >> 4) & 1)
accel_y_axis += 2;
if ((nunchuck_buf[5] >> 5) & 1)
accel_y_axis += 1;
if ((nunchuck_buf[5] >> 6) & 1)
accel_z_axis += 2;
if ((nunchuck_buf[5] >> 7) & 1)
accel_z_axis += 1;
Serial.print(i,DEC);
Serial.print("\t");
Serial.print("joy:");
Serial.print(joy_x_axis,DEC);
Serial.print(",");
Serial.print(joy_y_axis, DEC);
Serial.print(" \t");
Serial.print("acc:");
Serial.print(accel_x_axis, DEC);
Serial.print(",");
Serial.print(accel_y_axis, DEC);
Serial.print(",");
Serial.print(accel_z_axis, DEC);
Serial.print("\t");
Serial.print("but:");
Serial.print(z_button, DEC);
Serial.print(",");
Serial.print(c_button, DEC);
Serial.print("\r\n"); // newline
i++;
}
// Encode data to format that most wiimote drivers except
// only needed if you use one of the regular wiimote drivers
char nunchuk_decode_byte (char x)
{
x = (x ^ 0x17) + 0x17;
return x;
}
// returns zbutton state: 1=pressed, 0=notpressed
int nunchuck_zbutton()
{
return ((nunchuck_buf[5] >> 0) & 1) ? 0 : 1; // voodoo
}
// returns zbutton state: 1=pressed, 0=notpressed
int nunchuck_cbutton()
{
return ((nunchuck_buf[5] >> 1) & 1) ? 0 : 1; // voodoo
}
// returns value of x-axis joystick
int nunchuck_joyx()
{
return nunchuck_buf[0];
}
// returns value of y-axis joystick
int nunchuck_joyy()
{
return nunchuck_buf[1];
}
// returns value of x-axis accelerometer
int nunchuck_accelx()
{
return nunchuck_buf[2]; // FIXME: this leaves out 2-bits of the data
}
// returns value of y-axis accelerometer
int nunchuck_accely()
{
return nunchuck_buf[3]; // FIXME: this leaves out 2-bits of the data
}
// returns value of z-axis accelerometer
int nunchuck_accelz()
{
return nunchuck_buf[4]; // FIXME: this leaves out 2-bits of the data
}
"
This should be easily translatable to a stepper motor instead of two servos. We will also be able to use the LED function to control the inline sprinkler valve to control the air flow and pressure release.
Secondly, the following picture is the finished product! It has been souped up with a wonderful, custom paint job. Check it out!
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