Wii Nunchuk Servobot

After a healthy dose of Avatar on my new LG Passive 3D TV I decided to attempt a bit of Mech building myself to build the weapon to defeat the Blue creatures wtih the Green agenda.

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Bill of Materials: wiithing.fz

Sunday, September 11 2011, 16:08:18
Assembly List

Label
Part Type
Properties
Arduino1 Arduino processor ATmega; variant Arduino
J1 Basic Servo

J2 Basic Servo

U1 3-Axis Accelerometer Breakout axes 3 (x, y, z); chip ADXL

Shopping List

Amount
Part Type
Properties
1 3-Axis Accelerometer Breakout axes 3 (x, y, z); chip ADXL
1 Arduino processor ATmega; variant Arduino
2 Basic Servo

Schematic
wpid-wiithing_schem-2011-09-1-18-27.png

Breadboard

wpid-wiithing_bb-2011-09-1-18-27.png

Arduino Sheild
wpid-wiithing_pcb-2011-09-1-18-27.png

Code

nclude <Wire.h>
#include <string.h>
#include <stdio.h>

uint8_t outbuf[6];

int cnt = 0;
int ledPin = 13;

int servoPin = 7;
int servoPin2 = 6;

int pulseWidth = 0;
int pulseWidth2 = 0;

long lastPulse = 0;
long lastPulse2 = 0;

int z_button = 0;
int c_button = 0;

int refreshTime = 20;

int minPulse = 1000;
int minPulse2 = 500;

int dtime=10;

#define pwbuffsize 10
long pwbuff[pwbuffsize];
long pwbuffpos = 0;
long pwbuff2[pwbuffsize];
long pwbuffpos2 = 0;

void setup()
{
Serial.begin (19200);
Wire.begin ();
nunchuck_init ();
pinMode(servoPin, OUTPUT);
pinMode(servoPin2, OUTPUT);

pulseWidth = minPulse;
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();

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;

}

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