Bonjour,
J'ai une arduino Duemilanove ATMEGA328 connectée par les Pin Analog de 2 à 5 aux 4 pins de l'adaptateur nunchuck.
L'ensemble est relié au pc sous win XP par USB por Com4
Le logiciel arduino est la version 0017
Le code source est
Wii.pde
#include <math.h>
#include "Wire.h"
#include "WiiChuck.h"
//#include "nunchuck_funcs.h"
#define MAXANGLE 90
#define MINANGLE -90
WiiChuck chuck = WiiChuck();
int angleStart, currentAngle;
int tillerStart = 0;
double angle;
void setup() {
//nunchuck_init();
Serial.begin(115200);
chuck.begin();
chuck.update();
//chuck.calibrateJoy();
}
void loop() {
delay(20);
chuck.update();
Serial.print(chuck.readRoll());
Serial.print(", ");
Serial.print(chuck.readPitch());
Serial.print(", ");
Serial.print((int)chuck.readAccelX());
Serial.print(", ");
Serial.print((int)chuck.readAccelY());
Serial.print(", ");
Serial.print((int)chuck.readAccelZ());
Serial.println();
}
et
WiiChuck.h
/*
* Nunchuck -- Use a Wii Nunchuck
* Tim Hirzel http://www.growdown.com
*
notes on Wii Nunchuck Behavior.
This library provides an improved derivation of rotation angles from the nunchuck accelerometer data.
The biggest different over existing libraries (that I know of ) is the full 360 degrees of Roll data
from teh combination of the x and z axis accelerometer data using the math library atan2.
It is accurate with 360 degrees of roll (rotation around axis coming out of the c button, the front of the wii),
and about 180 degrees of pitch (rotation about the axis coming out of the side of the wii). (read more below)
In terms of mapping the wii position to angles, its important to note that while the Nunchuck
sense Pitch, and Roll, it does not sense Yaw, or the compass direction. This creates an important
disparity where the nunchuck only works within one hemisphere. At a result, when the pitch values are
less than about 10, and greater than about 170, the Roll data gets very unstable. essentially, the roll
data flips over 180 degrees very quickly. To understand this property better, rotate the wii around the
axis of the joystick. You see the sensor data stays constant (with noise). Because of this, it cant know
the difference between arriving upside via 180 degree Roll, or 180 degree pitch. It just assumes its always
180 roll.
*
* This file is an adaptation of the code by these authors:
* Tod E. Kurt, http://todbot.com/blog/
*
* The Wii Nunchuck reading code is taken from Windmeadow Labs
* http://www.windmeadow.com/node/42
*/
#ifndef WiiChuck_h
#define WiiChuck_h
#include "WProgram.h"
#include <Wire.h>
#include <math.h>
// these may need to be adjusted for each nunchuck for calibration
#define ZEROX 510
#define ZEROY 490
#define ZEROZ 460
#define RADIUS 210 // probably pretty universal
#define DEFAULT_ZERO_JOY_X 124
#define DEFAULT_ZERO_JOY_Y 132
class WiiChuck {
private:
byte cnt;
uint8_t status[6]; // array to store wiichuck output
byte averageCounter;
//int accelArray[3][AVERAGE_N]; // X,Y,Z
int i;
int total;
uint8_t zeroJoyX; // these are about where mine are
uint8_t zeroJoyY; // use calibrateJoy when the stick is at zero to correct
int lastJoyX;
int lastJoyY;
int angles[3];
boolean lastZ, lastC;
public:
byte joyX;
byte joyY;
boolean buttonZ;
boolean buttonC;
void begin()
{
Wire.begin();
cnt = 0;
averageCounter = 0;
Wire.beginTransmission (0x52); // transmit to device 0x52
Wire.send (0x40); // sends memory address
Wire.send (0x00); // sends memory address
Wire.endTransmission (); // stop transmitting
update();
for (i = 0; i<3;i++) {
angles[i] = 0;
}
zeroJoyX = DEFAULT_ZERO_JOY_X;
zeroJoyY = DEFAULT_ZERO_JOY_Y;
}
void calibrateJoy() {
zeroJoyX = joyX;
zeroJoyY = joyY;
}
void update() {
Wire.requestFrom (0x52, 6); // request data from nunchuck
while (Wire.available ()) {
// receive byte as an integer
status[cnt] = _nunchuk_decode_byte (Wire.receive()); //
cnt++;
}
if (cnt > 5) {
lastZ = buttonZ;
lastC = buttonC;
lastJoyX = readJoyX();
lastJoyY = readJoyY();
//averageCounter ++;
//if (averageCounter >= AVERAGE_N)
// averageCounter = 0;
cnt = 0;
joyX = (status[0]);
joyY = (status[1]);
for (i = 0; i < 3; i++)
//accelArray[i][averageCounter] = ((int)status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2)));
angles[i] = (status[i+2] << 2) + ((status[5] & (B00000011 << ((i+1)*2) ) >> ((i+1)*2)));
//accelYArray[averageCounter] = ((int)status[3] << 2) + ((status[5] & B00110000) >> 4);
//accelZArray[averageCounter] = ((int)status[4] << 2) + ((status[5] & B11000000) >> 6);
buttonZ = !( status[5] & B00000001);
buttonC = !((status[5] & B00000010) >> 1);
_send_zero(); // send the request for next bytes
}
}
// UNCOMMENT FOR DEBUGGING
//byte * getStatus() {
// return status;
//}
float readAccelX() {
// total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
return (float)angles[0] - ZEROX;
}
float readAccelY() {
// total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
return (float)angles[1] - ZEROY;
}
float readAccelZ() {
// total = 0; // accelArray[xyz][averageCounter] * FAST_WEIGHT;
return (float)angles[2] - ZEROZ;
}
boolean zPressed() {
return (buttonZ && ! lastZ);
}
boolean cPressed() {
return (buttonC && ! lastC);
}
// for using the joystick like a directional button
boolean rightJoy(int thresh=60) {
return (readJoyX() > thresh and lastJoyX <= thresh);
}
// for using the joystick like a directional button
boolean leftJoy(int thresh=60) {
return (readJoyX() < -thresh and lastJoyX >= -thresh);
}
int readJoyX() {
return (int) joyX - zeroJoyX;
}
int readJoyY() {
return (int)joyY - zeroJoyY;
}
// R, the radius, generally hovers around 210 (at least it does with mine)
// int R() {
// return sqrt(readAccelX() * readAccelX() +readAccelY() * readAccelY() + readAccelZ() * readAccelZ());
// }
// returns roll degrees
int readRoll() {
return (int)(atan2(readAccelX(),readAccelZ())/ M_PI * 180.0);
}
// returns pitch in degrees
int readPitch() {
return (int) (acos(readAccelY()/RADIUS)/ M_PI * 180.0); // optionally swap 'RADIUS' for 'R()'
}
private:
byte _nunchuk_decode_byte (byte x)
{
x = (x ^ 0x17) + 0x17;
return x;
}
void _send_zero()
{
Wire.beginTransmission (0x52); // transmit to device 0x52
Wire.send (0x00); // sends one byte
Wire.endTransmission (); // stop transmitting
}
};
La compilation est ok
le transfert vers l'arduino ok
Lorsque je démarrre l'arduino et le serial port (115200), je vois toute une serie de lignes
-132, 0, -510, -490, -460
-132, 0, -510, -490, -460
-132, 0, -510, -490, -460
-132, 0, -510, -490, -460
-132, 0, -510, -490, -460
Mais rien ne change en bougeant le nunchuck
par contre je vois bien le voyant TX clignoter
Quelqu'un peut-il me dire d'où vient le problème.
et où me transmettre son code
Merci
