Citazione:
Originalmente inviato da CarloRoma63  Che il nunchuk già lo ho e comprende sia l'accelerometro che il joystick che due tasti, il tutto in una impugnatura già fatta e completa di cavo.... esattamente quello che mi occorre 
Aggiungici che tutto intero e già completo costa veramente pochi ....
Carlo |
Ecco uno sketch che gestisce ben due Nunchuck su un arduino mega 2560. Lo commento nel prossimo post.
Carlo
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#include <Servo.h>
#include <SoftI2CMaster.h>
#include <LiquidCrystal.h>
LiquidCrystal lcd(8, 13, 9, 4, 5, 6, 7);
Servo myservo; // create servo object to control a servo
const byte sdaPin1 = 3; // digital pin 1 wired to 'd' on BlinkM
const byte sclPin1 = 2; // digital pin 0 wired to 'c' on BlinkM
const byte sdaPin2 = 1; // digital pin 3 wired to 'd' on BlinkM
const byte sclPin2 = 0; // digital pin 2 wired to 'c' on BlinkM
SoftI2CMaster i2c = SoftI2CMaster( sdaPin1,sclPin1 );
SoftI2CMaster i2d = SoftI2CMaster( sdaPin2,sclPin2 );
int val; // variable to read the value from the analog pin
int loop_cnt;
static uint8_t nunchuck_bufa[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufa1[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufa2[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufa3[10]; // array to store nunchuck data,
static uint8_t nunchuck_bufa4[10]; // array to store nunchuck data,
static uint8_t nunchuck_bufa5[10]; // array to store nunchuck data,
static uint8_t nunchuck_bufb[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufb1[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufb2[6]; // array to store nunchuck data,
static uint8_t nunchuck_bufb3[10]; // array to store nunchuck data,
static uint8_t nunchuck_bufb4[10]; // array to store nunchuck data,
static uint8_t nunchuck_bufb5[10]; // array to store nunchuck data,
int joy_x_axisa;
int joy_y_axisa;
int accel_x_axisa;
int accel_y_axisa;
int accel_z_axisa;
int z_buttona;
int c_buttona;
int joy_x_axisb;
int joy_y_axisb;
int accel_x_axisb;
int accel_y_axisb;
int accel_z_axisb;
int z_buttonb;
int c_buttonb;
static void nunchuck_init()
{
i2c.beginTransmission(0x52);// transmit to device 0x52
i2c.send(0x40);// sends memory address
i2c.send(0x00);// sends sent a zero.
i2c.endTransmission();// stop transmitting
i2d.beginTransmission(0x52);// transmit to device 0x52
i2d.send(0x40);// sends memory address
i2d.send(0x00);// sends sent a zero.
i2d.endTransmission();// stop transmitting
}
static void nunchuck_send_request(byte n)
{
if(n==1){
i2c.beginTransmission(0x52);// transmit to device 0x52
i2c.send(0x00);// sends one byte
i2c.endTransmission();// stop transmitting
}else{
i2d.beginTransmission(0x52);// transmit to device 0x52
i2d.send(0x00);// sends one byte
i2d.endTransmission();// stop transmitting
}
}
static int nunchuck_get_data(byte n)
{
if(n==1){
nunchuck_send_request(1); // send request for next data payload
i2c.requestFrom (0x52); // request data from nunchuck
// receive byte as an integer
nunchuck_bufa[0] = i2c.receive();
nunchuck_bufa[1] = i2c.receive();
nunchuck_bufa[2] = i2c.receive();
nunchuck_bufa[3] = i2c.receive();
nunchuck_bufa[4] = i2c.receive();
nunchuck_bufa[5] = i2c.receiveLast();
}else{
nunchuck_send_request(2); // send request for next data payload
i2d.requestFrom (0x52); // request data from nunchuck
// receive byte as an integer
nunchuck_bufb[0] = i2d.receive();
nunchuck_bufb[1] = i2d.receive();
nunchuck_bufb[2] = i2d.receive();
nunchuck_bufb[3] = i2d.receive();
nunchuck_bufb[4] = i2d.receive();
nunchuck_bufb[5] = i2d.receiveLast();
}
}
static void nunchuck_process_data(byte n)
{
static int i=0;
if(n==1){
joy_x_axisa = nunchuck_bufa[0];
joy_y_axisa = nunchuck_bufa[1];
accel_x_axisa = nunchuck_bufa[2]; // * 2 * 2;
accel_y_axisa = nunchuck_bufa[3]; // * 2 * 2;
accel_z_axisa = nunchuck_bufa[4]; // * 2 * 2;
z_buttona = 0;
c_buttona = 0;
// byte nunchuck_bufa[5] contains bits for z and c buttons
switch (nunchuck_bufa[5] & 3) {
case 0:
z_buttona = 1;
c_buttona = 1;
break;
case 1:
z_buttona = 0;
c_buttona = 1;
break;
case 2:
z_buttona = 1;
c_buttona = 0;
break;
case 3:
z_buttona = 0;
c_buttona = 0;
break;
}
// eseguo la media delle ultime 6 o 60 letture, per rendere più stabili i valori
joy_x_axisa=0;
for (i=0;i<5;i++){
nunchuck_bufa1[i]=nunchuck_bufa1[i+1];
joy_x_axisa = joy_x_axisa + nunchuck_bufa1[i+1];
}
nunchuck_bufa1[5]=nunchuck_bufa[0];
joy_x_axisa = (joy_x_axisa + nunchuck_bufa[0])/6;
joy_y_axisa=0;
for (i=0;i<5;i++){
nunchuck_bufa2[i]=nunchuck_bufa2[i+1];
joy_y_axisa = joy_y_axisa + nunchuck_bufa2[i+1];
}
nunchuck_bufa2[5]=nunchuck_bufa[1];
joy_y_axisa = (joy_y_axisa + nunchuck_bufa[1])/6;
accel_x_axisa=0;
for (i=0;i<9;i++){
nunchuck_bufa3[i]=nunchuck_bufa3[i+1];
accel_x_axisa = accel_x_axisa + nunchuck_bufa3[i+1];
}
nunchuck_bufa3[9]=nunchuck_bufa[2];
accel_x_axisa = (accel_x_axisa + nunchuck_bufa[2])/10;
accel_y_axisa=0;
for (i=0;i<9;i++){
nunchuck_bufa4[i]=nunchuck_bufa4[i+1];
accel_y_axisa = accel_y_axisa + nunchuck_bufa4[i+1];
}
nunchuck_bufa4[9]=nunchuck_bufa[3];
accel_y_axisa = (accel_y_axisa + nunchuck_bufa[3])/10;
accel_z_axisa=0;
for (i=0;i<9;i++){
nunchuck_bufa5[i]=nunchuck_bufa5[i+1];
accel_z_axisa = accel_z_axisa + nunchuck_bufa5[i+1];
}
nunchuck_bufa5[9]=nunchuck_bufa[4];
accel_z_axisa = (accel_z_axisa + nunchuck_bufa[4])/10;
}else{
joy_x_axisb = nunchuck_bufb[0];
joy_y_axisb = nunchuck_bufb[1];
accel_x_axisb = nunchuck_bufb[2]; // * 2 * 2;
accel_y_axisb = nunchuck_bufb[3]; // * 2 * 2;
accel_z_axisb = nunchuck_bufb[4]; // * 2 * 2;
z_buttonb = 0;
c_buttonb = 0;
// byte nunchuck_bufa[5] contains bits for z and c buttons
switch (nunchuck_bufb[5] & 3) {
case 0:
z_buttonb = 1;
c_buttonb = 1;
break;
case 1:
z_buttonb = 0;
c_buttonb = 1;
break;
case 2:
z_buttonb = 1;
c_buttonb = 0;
break;
case 3:
z_buttonb = 0;
c_buttonb = 0;
break;
}
// eseguo la media delle ultime 6 o 60 letture, per rendere più stabili i valori
joy_x_axisb=0;
for (i=0;i<5;i++){
nunchuck_bufb1[i]=nunchuck_bufb1[i+1];
joy_x_axisb = joy_x_axisb + nunchuck_bufb1[i+1];
}
nunchuck_bufb1[5]=nunchuck_bufb[0];
joy_x_axisb = (joy_x_axisb + nunchuck_bufb[0])/6;
joy_y_axisb=0;
for (i=0;i<5;i++){
nunchuck_bufb2[i]=nunchuck_bufb2[i+1];
joy_y_axisb = joy_y_axisb + nunchuck_bufb2[i+1];
}
nunchuck_bufb2[5]=nunchuck_bufb[1];
joy_y_axisb = (joy_y_axisb + nunchuck_bufb[1])/6;
accel_x_axisb=0;
for (i=0;i<9;i++){
nunchuck_bufb3[i]=nunchuck_bufb3[i+1];
accel_x_axisb = accel_x_axisb + nunchuck_bufb3[i+1];
}
nunchuck_bufb3[9]=nunchuck_bufb[2];
accel_x_axisb = (accel_x_axisb + nunchuck_bufb[2])/10;
accel_y_axisb=0;
for (i=0;i<9;i++){
nunchuck_bufb4[i]=nunchuck_bufb4[i+1];
accel_y_axisb = accel_y_axisb + nunchuck_bufb4[i+1];
}
nunchuck_bufb4[9]=nunchuck_bufb[3];
accel_y_axisb = (accel_y_axisb + nunchuck_bufb[3])/10;
accel_z_axisb=0;
for (i=0;i<9;i++){
nunchuck_bufb5[i]=nunchuck_bufb5[i+1];
accel_z_axisb = accel_z_axisb + nunchuck_bufb5[i+1];
}
nunchuck_bufb5[9]=nunchuck_bufb[4];
accel_z_axisb = (accel_z_axisb + nunchuck_bufb[4])/10;
}
/* // parte necessaria per sfruttare anche i due bit degli accelerometri presenti nel sesto byte.
if ((nunchuck_bufa[5] >> 2) & 1)
accel_x_axis += 2;
if ((nunchuck_bufa[5] >> 3) & 1)
accel_x_axis += 1;
if ((nunchuck_bufa[5] >> 4) & 1)
accel_y_axis += 2;
if ((nunchuck_bufa[5] >> 5) & 1)
accel_y_axis += 1;
if ((nunchuck_bufa[5] >> 6) & 1)
accel_z_axis += 2;
if ((nunchuck_bufa[5] >> 7) & 1)
accel_z_axis += 1;
*/
}
static void nunchuck_print_data()
{
// sets the servo position according to the scaled value
val = joy_x_axisa ; // reads the value of the potentiometer (value between 0 and 1023)
val = map(val, 0, 255, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo.write(val);
// mostro sullo schermo LCD i dati ottenuti dal nunchuck
lcd.setCursor(0, 0);
lcd.print(joy_x_axisa);
lcd.print(",");
lcd.print(joy_y_axisa);
lcd.print(" c=");
lcd.print(c_buttona);
lcd.print(" z=");
lcd.print(z_buttona);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print(joy_x_axisb);
lcd.print(",");
lcd.print(joy_y_axisb);
lcd.print(" c=");
lcd.print(c_buttonb);
lcd.print(" z=");
lcd.print(z_buttonb);
lcd.print(" ");
delay(1000) ;
lcd.setCursor(0, 0);
lcd.print("x=");
lcd.print(accel_x_axisa);
lcd.print(" y=");
lcd.print(accel_y_axisa);
lcd.print(" z=");
lcd.print(accel_z_axisa);
lcd.print(" ");
lcd.setCursor(0, 1);
lcd.print("x=");
lcd.print(accel_x_axisb);
lcd.print(" y=");
lcd.print(accel_y_axisb);
lcd.print(" z=");
lcd.print(accel_z_axisb);
lcd.print(" ");
delay(1000);
}
void setup() {
nunchuck_init();
lcd.clear();
lcd.begin(16, 2);
myservo.attach(45);
}
void loop() {
if( loop_cnt > 100 ) { // every 100 cicli LOOP legge i dati
loop_cnt = 0;
nunchuck_get_data(1);
nunchuck_process_data(1);
nunchuck_get_data(2);
nunchuck_process_data(2);
nunchuck_print_data();
}
loop_cnt++;
}