int main(int arg, char **argv) { struct nunchuck_data n_data; char *device="/dev/i2c-1"; int i2c_fd; i2c_fd=init_i2c(device); if (i2c_fd < 0) { fprintf(stderr,"Error opening i2c dev file %s\n",device); return -1; } if (init_nunchuck(i2c_fd)) { fprintf(stderr,"Error initializing nunchuck\n"); return -1; } while(1) { read_nunchuck(i2c_fd,&n_data); printf("Joystick X: %d\n",n_data.joy_x); printf("Joystick Y: %d\n",n_data.joy_y); printf("Accelerometer X: %d\n",n_data.acc_x); printf("Accelerometer Y: %d\n",n_data.acc_y); printf("Accelerometer Z: %d\n",n_data.acc_z); printf("Z button pressed: %d\n",n_data.z_pressed); printf("C button pressed: %d\n",n_data.c_pressed); usleep(100000); } return 0; }
int main(void){ char i; unsigned char data[16]; short wiichuck[7], xinit=0, yinit=0, l_vel, r_vel; int xpow, ypow; LockoutProtection(); InitializeMCU(); InitializeUART(); InitializeI2C(); InitializeServos(); SetServoPosition(SERVO_0, 140); InitializeMotors(true, false); InitializeEncoders(true, false); // UARTprintf("Initializing Nunchuck\n\n"); // I2CSend(0x52<<1, 2, 0x40, 0x00); // Wait(25); init_nunchuck(); // Wireless Nunchucks Zero @ 128 xinit = yinit = 128; while(1){ //Start Recalculating Values Wait(1); I2CSend(0x52<<1, 1, 0x00); Wait(1); I2CSend(0x52<<1, 1, 0x00); Wait(1); I2CSend(0x52<<1, 1, 0x00); if (I2CMasterErr(I2C0_MASTER_BASE) != I2C_MASTER_ERR_NONE){ UARTprintf("Send Zero Error:\n"); switch(I2CMasterErr(I2C0_MASTER_BASE)){ case I2C_MASTER_ERR_ADDR_ACK: UARTprintf(" I2C_MASTER_ERR_ADDR_ACK\n"); break; case I2C_MASTER_ERR_DATA_ACK: UARTprintf(" I2C_MASTER_ERR_DATA_ACK\n"); break; case I2C_MASTER_ERR_ARB_LOST: UARTprintf(" I2C_MASTER_ERR_ARB_LOST\n"); break; default: UARTprintf("WTF: %d\n", I2CMasterErr(I2C0_MASTER_BASE)); } // Reinitialize Nunchuck on error init_nunchuck(); }else{ Wait(1); I2CRecieve(0x52<<1, data, 6); // Nunchuck data is 6 bytes, but for whatever reason, MEMOREX Wireless Nunchuck wants to send 8... if (I2CMasterErr(I2C0_MASTER_BASE) != I2C_MASTER_ERR_NONE){ UARTprintf("Send Zero Error:\n"); switch(I2CMasterErr(I2C0_MASTER_BASE)){ case I2C_MASTER_ERR_ADDR_ACK: UARTprintf(" I2C_MASTER_ERR_ADDR_ACK\n"); break; case I2C_MASTER_ERR_DATA_ACK: UARTprintf(" I2C_MASTER_ERR_DATA_ACK\n"); break; case I2C_MASTER_ERR_ARB_LOST: UARTprintf(" I2C_MASTER_ERR_ARB_LOST\n"); break; } // Reinitialize Nunchuck on error init_nunchuck(); }else{ //for(i=0; i<6; i++) // data[i] = (data[i] ^ 0x17) + 0x17; // Nintendo decided to encrypt thir data... // Save Joystick Data wiichuck[0] = data[1]; // X Axis Joystick wiichuck[1] = data[0]; // Y Axis Joystick wiichuck[2] = (((unsigned short) data[2]) << 2) + (((unsigned short) data[5]) & (3<<2)); // X Axis Accel wiichuck[3] = (((unsigned short) data[3]) << 2) + (((unsigned short) data[5]) & (3<<4)); // Y Axis Accel wiichuck[4] = (((unsigned short) data[4]) << 2) + (((unsigned short) data[5]) & (3<<6)); // Z Axis Accel wiichuck[5] = data[5] & (1 << 1) ? 0 : 1; //'C' Button wiichuck[6] = data[5] & (1 << 0) ? 0 : 1; //'Z' Button //if (xinit == 0 && yinit == 0){ // xinit = wiichuck[0]-127; // yinit = wiichuck[1]-127; //}else{ xpow = (wiichuck[0]-xinit)/2; ypow = (wiichuck[1]-yinit)/2; l_vel = (xpow - ypow)*2; r_vel = (xpow + ypow)*2; l_vel = l_vel > 127 ? 127 : l_vel; r_vel = r_vel > 127 ? 127 : r_vel; l_vel = l_vel < -127 ? -127 : l_vel; r_vel = r_vel < -127 ? -127 : r_vel; //UARTprintf("X: %d\tY: %d\n", xpow*2, ypow*2); SetMotorPowers(l_vel / (wiichuck[5]==0 ? 2 : 1), r_vel / (wiichuck[5]==0 ? 2 : 1)); UARTprintf("Motor L: %d\tMotor R: %d\n", l_vel, r_vel); SetServoPosition(SERVO_0, wiichuck[6]==1 ? 255 : 140); UARTprintf("Nunchuck Data:\n"); for(i=0; i<7; i++){ UARTprintf(" %d\n", wiichuck[i]); }NL; Wait(100); } } } }