ciao a tutti
sto iniziando il progetto di un quadricottero cosi sono andato a comprare il Wii Motion + e dopo aver tolto il connettore e saldato i cavi e montati seguendo queste indicazioni
provo a caricare questo programma
#include <Wire.h>
byte data[6]; //six data bytes
int yaw, pitch, roll; //three axes
int yaw0, pitch0, roll0; //calibration zeroes
void wmpOn(){
Wire.beginTransmission(0x53); //WM+ starts out deactivated at address 0x53
Wire.send(0xfe); //send 0x04 to address 0xFE to activate WM+
Wire.send(0x04);
Wire.endTransmission(); //WM+ jumps to address 0x52 and is now active
}
void wmpSendZero(){
Wire.beginTransmission(0x52); //now at address 0x52
Wire.send(0x00); //send zero to signal we want info
Wire.endTransmission();
}
void calibrateZeroes(){
for (int i=0;i<10;i++){
wmpSendZero();
Wire.requestFrom(0x52,6);
for (int i=0;i<6;i++){
data[i]=Wire.receive();
}
yaw0+=(((data[3]>>2)<<8)+data[0])/10; //average 10 readings for each zero
pitch0+=(((data[4]>>2)<<8)+data[1])/10;
roll0+=(((data[5]>>2)<<8)+data[2])/10;
}
Serial.print("Yaw0:");
Serial.print(yaw0);
Serial.print(" Pitch0:");
Serial.print(pitch0);
Serial.print(" Roll0:");
Serial.println(roll0);
}
void receiveData(){
wmpSendZero(); //send zero before each request (same as nunchuck)
Wire.requestFrom(0x52,6); //request the six bytes from the WM+
for (int i=0;i<6;i++){
data[i]=Wire.receive();
}
yaw=((data[3]>>2)<<8)+data[0]-yaw0; //see http://wiibrew.org/wiki/Wiimote/Extension_Controllers#Wii_Motion_Plus
pitch=((data[4]>>2)<<8)+data[1]-pitch0; //for info on what each byte represents
roll=((data[5]>>2)<<8)+data[2]-roll0;
}
void setup(){
Serial.begin(115200);
Serial.println("WM+ tester");
Wire.begin();
wmpOn(); //turn WM+ on
calibrateZeroes(); //calibrate zeroes
delay(1000);
}
void loop(){
receiveData(); //receive data and calculate yaw pitch and roll
Serial.print("yaw:"); //see diagram on randomhacksofboredom.blogspot.com
Serial.print(yaw); //for info on which axis is which
Serial.print(" pitch:");
Serial.print(pitch);
Serial.print(" roll:");
Serial.println(roll);
delay(100);
}
ed ottengo questo output da seriale
WM+ tester
Yaw0:0 Pitch0:0 Roll0:0
yaw:0 pitch:0 roll:0
yaw:0 pitch:0 roll:0
yaw:0 pitch:0 roll:0
yaw:0 pitch:0 roll:0
yaw:0 pitch:0 roll:0
come se non fosse collegato nessun VM+ >:(
qualcuno puo darmi una mano? grazie
c
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