Here's a question for you, what do I have to change within this code since I'll be using my own motors with a motor shield rather than the Ardubot PCB. I have read over it, and well to me at this point in my Arduino career, looks like Japanese... I know I have to change the pins that the motor is connected to, but is there anything else??
const byte WII_IDENT_LEN = 6;
const byte WII_TELEGRAM_LEN = 6;
const byte WII_NUNCHUCK_TWI_ADR = 0x52;
const byte right1 = 9; // Right motor control 1
const byte right2 = 6; // Right motor control 2
const byte left1 = 5; // Left motor control 1
const byte left2 = 3; // Left motor control 2
const byte joy_x_mid = 133; // Sample value
const byte joy_y_mid = 130; // Sample value
const int acc_x_mid = 512;
const int acc_y_mid = 512;
int button_state = 1; // variable for reading the Z-button status
int led_state = 0; // variable containing LED status
int change = 0;
#include <Wire.h>
byte outbuf[WII_TELEGRAM_LEN]; // array to store arduino output
int cnt = 0;
void setup ()
{
Wire.begin(); // initialize i2c
pinMode(right1, OUTPUT);
pinMode(right2, OUTPUT);
pinMode(left1, OUTPUT);
pinMode(left2, OUTPUT);
pinMode(13, OUTPUT);
nunchuck_init(0); // send the initialization handshake
}
// params:
// timeout: abort when timeout (in ms) expires, 0 for unlimited timeout
// return: 0 == ok, 1 == timeout
byte nunchuck_init (unsigned short timeout)
{
byte rc = 1;
unsigned long time = millis();
do
{
Wire.beginTransmission (WII_NUNCHUCK_TWI_ADR); // transmit to device 0x52
Wire.send (0xF0); // sends memory address
Wire.send (0x55); // sends data.
if(Wire.endTransmission() == 0) // stop transmitting
{
Wire.beginTransmission (WII_NUNCHUCK_TWI_ADR); // transmit to device 0x52
Wire.send (0xFB); // sends memory address
Wire.send (0x00); // sends sent a zero.
if(Wire.endTransmission () == 0) // stop transmitting
{
rc = 0;
}
}
}
while (rc != 0 && (!timeout || ((millis() - time) < timeout)));
return rc;
}
void clearTwiInputBuffer(void)
{
// clear the receive buffer from any partial data
while( Wire.available ())
Wire.receive ();
}
void send_zero ()
{
// I don't know why, but it only works correct when doing this exactly 3 times
// otherwise only each 3rd call reads data from the controller (cnt will be 0 the other times)
for(byte i = 0; i < 3; i++)
{
Wire.beginTransmission (WII_NUNCHUCK_TWI_ADR); // transmit to device 0x52
Wire.send (0x00); // sends one byte
Wire.endTransmission (); // stop transmitting
//delay(1);
}
}
void loop (){
delay (100);
send_zero (); // send the request for next bytes
Wire.requestFrom (WII_NUNCHUCK_TWI_ADR, WII_TELEGRAM_LEN); // request data from nunchuck
for (cnt = 0; (cnt < WII_TELEGRAM_LEN) && Wire.available (); cnt++)
{
outbuf[cnt] = Wire.receive (); // receive byte as an integer
}
// debugging
clearTwiInputBuffer();
// If we received the 6 bytes, then use them ...
if (cnt >= WII_TELEGRAM_LEN){
button_state = bitRead(outbuf[5], 0); // Read input value
if (button_state == 0) { // Check if Z-button is pressed
// Yes, input is 0
// If LED is on, turn it off
// If LED is off, turn it on
if ((led_state == 0) && (change == 0)){
digitalWrite(13, HIGH); // turn LED ON, accel control
led_state = 1;
change = 1; // Set change, prevent new change
}
if ((led_state == 1) && (change == 0)){
digitalWrite(13, LOW); // turn LED OFF, joystick control
led_state = 0;
change = 1; // Set change, prevent new change
}
}
else { // Z-button released,
change = 0; // input is HIGH again, reset change,
} // allow new change
if(led_state == 0){ // Joystick control
byte joy_x = outbuf[0];
byte joy_y = outbuf[1];
int xval = joy_x - joy_x_mid;
int yval = joy_y - joy_y_mid;
if(yval >= 0){
leftForw(constrain(yval + xval, 0, 255));
rightForw(constrain(yval - xval, 0, 255));
}
if(yval < 0){
leftBackw(constrain(-yval + xval, 0, 255));
rightBackw(constrain(-yval - xval, 0, 255));
}
}
}
if(led_state == 1){ // Accelerometer control
unsigned int accel_x_axis = outbuf[2] << 2;
unsigned int accel_y_axis = outbuf[3] << 2;
if (bitRead(outbuf[5], 2) == 1){
bitSet(accel_x_axis, 1);
}
if (bitRead(outbuf[5], 3) == 1){
bitSet(accel_x_axis, 0);
}
if (bitRead(outbuf[5], 4) == 1){
bitSet(accel_y_axis, 1);
}
if (bitRead(outbuf[5], 5) == 1){
bitSet(accel_y_axis, 0);
}
int xval = accel_x_axis - acc_x_mid;
int yval = accel_y_axis - acc_y_mid;
if(yval >= 0){
leftForw(constrain(yval + xval, 0, 255));
rightForw(constrain(yval - xval, 0, 255));
}
if(yval < 0){
leftBackw(constrain(-yval + xval, 0, 255));
rightBackw(constrain(-yval - xval, 0, 255));
}
}
}
void rightForw(byte speed){ // Motor code blocks
digitalWrite(right1, LOW);
analogWrite(right2, speed);
}
void rightBackw(byte speed){
analogWrite(right1, speed);
digitalWrite(right2, LOW);
}
void leftForw(byte speed){
analogWrite(left1, speed);
digitalWrite(left2, LOW);
}
void leftBackw(byte speed){
digitalWrite(left1, LOW);
analogWrite(left2, speed);
}
