Simple WiiRemote Bluetooth Robot

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1

Here is a video of it so far. Simple Bluetooth Wii Remote Controlled Robot - YouTube
It's an extremely simple platform, just 2 modified nine gram servos I got from Ebay for $2.50 each and a $2 Bluetooth Dongle.
Charley

Here is the Sketch

#include <WiiRemote.h>
#include <Servo.h>

#define STEERING_ANGLE_MAX 160
#define STEERING_ANGLE_MIN 20
#define STEERING_ANGLE_CENTER 90
#define STEERING_ANGLE_STEP 5
Servo Left_servo; // create servo object to control a servo
Servo Right_servo;
int deg1;
int a;
WiiRemote wiiremote;

void setup()
{

wiiremote.init();
Left_servo.attach(6); // attaches the servo on pin 3 & 6 to the servo objects
Right_servo.attach(3);

}
void loop(){
Left_servo.attach(6); // attaches the servo on pin 3 & 6 to the servo objects
Right_servo.attach(3);
wiiremote.task(&myapp);
}

void myapp(void) {

int steering_angle = getSteeringAngle();
}

int getSteeringAngle(void) {
double rad; // y accel setup
double deg; // y accel setup
double rad2; // X accel setup
double deg2; // X accel setup

rad = acos((double) wiiremote.Report.Accel.Y);
deg = rad * 180.0 / PI;

rad2 = acos((double) wiiremote.Report.Accel.X);

deg2 = rad2 * 180.0 / PI;

/* clipping */
if (deg2 > STEERING_ANGLE_MAX) { deg2 = STEERING_ANGLE_MAX; }
else if (deg2 < STEERING_ANGLE_MIN) { deg2 = STEERING_ANGLE_MIN; }

if (deg > STEERING_ANGLE_MAX) { deg = STEERING_ANGLE_MAX; }
else if (deg < STEERING_ANGLE_MIN) { deg = STEERING_ANGLE_MIN; }

if (deg2 >= 85 && deg2 <= 95) { Left_servo.detach(); //eliminates drift at servo center position
Right_servo.detach(); }

if (deg2 > 90) { a = deg2 - 90; //Inverts output to reverse right servo
deg1 = 90 - a;
}
else if (deg2 < 90) {a = 90 - deg2;
deg1 = 90 + a;
}

if (deg >= 80 && deg <= 100) {
Left_servo.write(deg2);
Right_servo.write(deg1);
}
else if (deg < 80) {
Right_servo.write(deg1);
Left_servo.write(90);
}
else if (deg > 100) {
Left_servo.write(deg2);
Right_servo.write(90);
}
}