Hello,
i am trying to control at least 2 servos (yaw and pitch) with wiiMPlus. i read hundreds of threads in these forums and managed to read usable yaw, pitch, roll data from wiiMPlus thanks to many brilliant programmers here.
my code manages to read yaw, pitch,roll data in degrees between 0-180 but when i try to use these degree data as servo.write the program stops reading data from wiiMPlus. better to phrase, the code stops working when i add #include <servo.h> to the beginning... 
the code works when i uncomment the servo entries... pls help... below is my code:
// .......................................................................
// Code for reading data from a Wii Motion plus device connected to a Nunchuck
// Links to other sites
// http://www.windmeadow.com/node/42 .... first time i saw arduino nunchuk interface
// http://www.kako.com/neta/2009-017/2009-017.html# .....Japanese site with lots of Wii info
// http://wiibrew.org/wiki/Wiimote/Extension_Controllers#Wii_Motion_Plus .... the one and only
// http://randomhacksofboredom.blogspot.com/2009/06/wii-motion-plus-arduino-love.html
// ....original motion plus but not passthrough
// http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1248889032/35 .... great Kalman filter code
// thanks to duckhead and knuckles904. I will be using that code for sure.
// http://obex.parallax.com/objects/471/ .... ideas for passthrough
// by Krulkip
// Here is the bitmapping which is changed from the standard nunchuk mapping
// In Nunchuk mode:
// Bit
// Byte 7 6 5 4 3 2 1 0
// 0 SX<7-----------------------------------------------------0>
// 1 SY<7-----------------------------------------------------0>
// 2 AX<9-----------------------------------------------------2>
// 3 AY<9-----------------------------------------------------2>
// 4 AZ<9---------------------------------------------3> 1
// 5 AZ<2-----1> AY<1> AX<1> BC BZ 0 0
// Please note also the loss of the bit0 resolution.
// Byte 5 Bit 0 and 1 is used for nunchuk (0 0) = nunchuk or motion plus (1 0) is motion plus detection.
// Byte 4 Bit 0 which is the extention controller detection bit. (1 = extension present)
// Hardware Arduino with ATMega 168
// Connections SDA to AD4 (Analog4) and SCL to AD5 (Analog5)
//........................................................................
#include <Wire.h>
//#include <Servo.h>
#include <String.h>
//#include <stdio.h>
//Servo yawServo;
//Servo pitchServo;
uint8_t outbuf[6]; // array to store arduino output
int cnt = 0;
int ledPin = 13;
int xID;
void
setup ()
{
Serial.begin (19200);
Wire.begin();
Serial.print ("Finished setup\n");
Serial.print ("Now detecting WM+\n");
delay(100);
//yawServo.attach(2);
//pitchServo.attach(3);
// now make Wii Motion plus the active extension
// nunchuk mode = 05, wm+ only = 04, classic controller = 07
Serial.print ("Making Wii Motion plus the active extension in nunchuk mode = 05 ........");
Wire.beginTransmission(0x53);
Wire.write(0xFE);
Wire.write(0x05);// nunchuk
Wire.endTransmission();
Serial.print (" OK done");
Serial.print ("\r\n");
delay (100);
// now innitiate Wii Motion plus
Serial.print ("Innitialising Wii Motion plus ........");
Wire.beginTransmission(0x53);
Wire.write(0xF0);
Wire.write(0x55);
Wire.endTransmission();
Serial.print (" OK done");
Serial.print ("\r\n");
delay (100);
Serial.print ("Set reading address at 0xFA .......");
Wire.beginTransmission(0x52);
Wire.write(0xFA);
Wire.endTransmission();
Serial.print(" OK done");
Serial.print ("\r\n");
delay (100);
Wire.requestFrom (0x52,6);
outbuf[0] = Wire.read();Serial.print(outbuf[0],HEX);Serial.print(" ");
outbuf[1] = Wire.read();Serial.print(outbuf[1],HEX);Serial.print(" ");
outbuf[2] = Wire.read();Serial.print(outbuf[2],HEX);Serial.print(" ");
outbuf[3] = Wire.read();Serial.print(outbuf[3],HEX);Serial.print(" ");
outbuf[4] = Wire.read();Serial.print(outbuf[4],HEX);Serial.print(" ");
outbuf[5] = Wire.read();Serial.print(outbuf[5],HEX);Serial.print(" ");
Serial.print ("\r\n");
xID= outbuf[0] + outbuf[1] + outbuf[2] + outbuf[3] + outbuf[4] + outbuf[5];
Serial.print("Extension controller xID = 0x");
Serial.print(xID,HEX);
if (xID == 0xCB) { Serial.print (" Wii Motion plus connected but not activated"); }
if (xID == 0xCE) { Serial.print (" Wii Motion plus connected and activated"); }
if (xID == 0x00) { Serial.print (" Wii Motion plus not connected"); }
Serial.print ("\r\n");
delay (100);
// Now we want to point the read adress to 0xa40008 where the 6 byte data is stored
Serial.print ("Set reading address at 0x08 .........");
Wire.beginTransmission(0x52);
Wire.write(0x08);
Wire.endTransmission();
Serial.print(" OK done");
Serial.print ("\r\n");
}
void
send_zero ()
{
Wire.beginTransmission(0x52);
Wire.write(0x00);
Wire.endTransmission();
}
void loop ()
{
// now follows conversion command instructing extension controller to get
// all sensor data and put them into 6 byte register within the extension controller
send_zero (); // send the request for next bytes
delay (100);
Wire.requestFrom (0x52,6);
outbuf[0] = Wire.read();
outbuf[1] = Wire.read();
outbuf[2] = Wire.read();
outbuf[3] = Wire.read();
outbuf[4] = Wire.read();
outbuf[5] = Wire.read();
print ();
cnt = 0;
}
void
print ()
{
// check if nunchuk is really connected
if ((outbuf[4]&0x01)==0x01) {
Serial.print("Ext con: ");
}
if ((outbuf[5]&0x03)==0x00) {
int joy_x_axis = outbuf[0];
int joy_y_axis = outbuf[1];
int accel_x_axis = (outbuf[2] << 2) + ((outbuf[5] >> 3) & 2);
int accel_y_axis = (outbuf[3] << 2) + ((outbuf[5] >> 4) & 2);
int accel_z_axis = (outbuf[4] << 2) + ((outbuf[5] >> 5) & 6);
int z_button = (outbuf[5]>>2) & 1;
int c_button = (outbuf[5]>>3) & 1;
Serial.print ("joyx= ");
Serial.print (joy_x_axis, HEX);
Serial.print (" joyy=");
Serial.print (joy_y_axis, HEX);
Serial.print (" accx= ");
Serial.print (accel_x_axis, HEX);
Serial.print (" accy= ");
Serial.print (accel_y_axis, HEX);
Serial.print (" accz= ");
Serial.print (accel_z_axis, HEX);
Serial.print (" ");
if (z_button == 0) { Serial.print ("z_button "); }
if (c_button == 0) { Serial.print ("c_button "); }
Serial.print ("\r\n");
}
else
if ((outbuf[5]&0x03)==0x02) {
int yaw = (((outbuf[5]&0xFC)<<6) + outbuf[0]);
int pitch = (((outbuf[4]&0xFC)<<6) + outbuf[1]);
int roll = (((outbuf[3]&0xFC)<<6) + outbuf[2]);
int yaw_deg = map(roll, 3000, 13000, 0, 179);
if (yaw_deg < 0){yaw_deg = 0;};
if (yaw_deg > 179){yaw_deg = 179;};
//yawServo.write(yaw_deg);
delay(10);
int pitch_deg = map(yaw, 3000, 13000, 0, 179);
if (pitch_deg < 0){pitch_deg = 0;};
if (pitch_deg > 179){pitch_deg = 179;};
//pitchServo.write(pitch_deg);
delay(10);
int roll_deg = map(pitch, 3000, 13000, 0, 179);
if (roll_deg < 0){roll_deg = 0;};
if (roll_deg > 179){roll_deg = 179;};
//rollServo.write(roll_deg);
delay(10);
Serial.print ("yaw= ");
Serial.print (yaw_deg);
Serial.print (" pitch= ");
Serial.print (pitch_deg);
Serial.print (" roll= ");
Serial.print (roll_deg);
Serial.print ("\r\n");
}
}