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Topic: 3 or more servos with wii nunchuk (Read 882 times) previous topic - next topic

jan4321

i want to control a robot arm with my nunchuck. it shuold have 3 to 6 servos. in the internet i can only find instructions for 2 servos.
i dont want to learn the  whole nunchuk libery.
has somebody a code to control 3 or more servos with the nunchuk accelerometer the butons and the joystick?

Groove

Quote
in the internet i can only find instructions for 2 servos

So adding a third, fourth or even more should be fairly simple.
Post your code, and we can help.
Per Arduino ad Astra

jan4321

this is the code i am using to control 2 servos with the accelrometer. when you press z it is pausing and when you press c it is pausing for ca. 3 sec. but i dont nead that
Code: [Select]
#include <Wire.h>
#include <string.h>
#include <stdio.h>

uint8_t outbuf[6];

int cnt = 0;
int ledPin = 13;

int servoPin = 9;
int servoPin2 = 10;

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 (9600);
   Wire.begin ();
   nunchuck_init ();
   pinMode(servoPin, OUTPUT);
   pinMode(servoPin2, OUTPUT);

   pulseWidth = minPulse;
   pulseWidth2 = minPulse2;
   Serial.print ("Finished setupn");
}

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 ("rn");
   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;

}

AWOL

Is there any particular reason you generate the servo pulses yourself, instead of using the servo library?
"Pete, it's a fool looks for logic in the chambers of the human heart." Ulysses Everett McGill.
Do not send technical questions via personal messaging - they will be ignored.

jan4321


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