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NunchuckController.cpp
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185 lines (167 loc) · 3.92 KB
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#include <I2C.h>
#include "NunchuckController.h"
/**
* Buffer to store nunchuck data
**/
static unsigned char nunchuckBuf[6];
NunchuckController::NunchuckController()
{
joyCenter_[0]=114;
joyCenter_[1]=114;
deltaAccel_[0]=lastAccel_[0]=0;
deltaAccel_[1]=lastAccel_[1]=0;
deltaAccel_[2]=lastAccel_[2]=0;
int sensitivity[3]={10,10,10};
setAccelSensitivity(sensitivity);
}
/**
* Initialize the wiiChuck
**/
int NunchuckController::init()
{
int pingResult=I2c.ping(NUNCHUCK_ADDRESS);
switch (pingResult)
{
case 0:
Serial.print("Nunchuck not responding at ");
Serial.println(NUNCHUCK_ADDRESS, HEX);
break;
case 1:
Serial.println("Nunchuck is alive!");
break;
case -1:
Serial.println("Communications problem");
break;
}
I2c.begin();
int status=I2c.write(NUNCHUCK_ADDRESS,0x40,0x00); // talk to nunchuck
delay(100); // pause for things to settle down
return status;
}
/**
* buf[0] - joy X axis
* buf[1] - joy Y axis
* buf[2] - accel x MSB
* buf[3] - accel y MSB
* buf[4] = accel z MSB
* accelerometer data is 10 bits
*
* nunchuckBuf[5] bits:
* 0 - z Button
* 1 - c Button
* 2, 3 - LSB X
* 4, 5 - LSB Y
* 6, 7 - LSB Z
**/
int NunchuckController::read(int *joy, int *accel, NunchuckButton &button)
{
int writeStatus=I2c.write(NUNCHUCK_ADDRESS,0x00); // Conversion command
if (0 != writeStatus)
{
return writeStatus;
}
delay(100);
int readStatus=I2c.read(NUNCHUCK_ADDRESS,6,nunchuckBuf);
//
// Decode values for accelerometer, skipping joystick values which are not
// encoded.
//
for (int i = 2; i < sizeof(nunchuckBuf); i++)
{
nunchuckBuf[i]=(nunchuckBuf[i]^0x17)+0x17;
}
// convert raw values into normalized values
joy[0]=(int)nunchuckBuf[0]-joyCenter_[0];
joy[1]=(int)nunchuckBuf[1]-joyCenter_[1];
accel[0]=(nunchuckBuf[2]<<2)+((nunchuckBuf[5]>>2)&0x3)-accelOffset_[0];
accel[1]=(nunchuckBuf[3]<<2)+((nunchuckBuf[5]>>4)&0x3)-accelOffset_[1];
accel[2]=(nunchuckBuf[4]<<2)+((nunchuckBuf[5]>>6)&0x3)-accelOffset_[2];
for (int i = 0; i < 3; i++)
{
if (lastAccel_[i] != 0)
{
int delta=accel[i]-lastAccel_[i];
if (abs(delta) > accelSensitivity_[i])
{
deltaAccel_[i]=delta;
} else
{
deltaAccel_[i]=0;
}
}
lastAccel_[i]=accel[i];
}
// invert the button values (raw 1 is not pressed)
if (!(nunchuckBuf[5]&1))
{
button=BUTTON_Z;
} else if (((nunchuckBuf[5]>>1)&1) == 0)
{
button=BUTTON_C;
} else
{
button=BUTTON_NONE;
}
return readStatus;
}
float NunchuckController::computeRoll(int *accel)
{
return atan(accel[0]/sqrt(pow(accel[1],2)+pow(accel[2],2)));
}
float NunchuckController::computePitch(int *accel)
{
return -1*atan(accel[1]/sqrt(pow(accel[0],2)+pow(accel[2],2)));
}
int NunchuckController::calibrateJoyCenter(void)
{
int joyValue[2], accel[3];
NunchuckButton button;
int status = read(joyValue, accel, button);
if (0 == status)
{
if (0 != joyValue[0])
{
joyCenter_[0]-=joyValue[0];
}
if (0 != joyValue[1])
{
joyCenter_[1]-= joyValue[1];
}
}
Serial.print("Joystick Center: (");
Serial.print(joyCenter_[0]);
Serial.print(", ");
Serial.print(joyCenter_[0]);
Serial.println(")");
}
/**
* Calibrate x and y zeros, then use the average to estimate the z zero
**/
int NunchuckController::calibrateAccel(void)
{
int joyValue[2], accel[3];
NunchuckButton button;
int status = read(joyValue, accel, button);
accelOffset_[0]=accel[0];
accelOffset_[1]=accel[1];
accelOffset_[2]=(accel[0]+accel[1])/2;
Serial.print("Accel Offsets: (");
for (int i = 0; i < 2; i++)
{
if (i != 0)
{
Serial.print(", ");
}
Serial.print(accel[i]);
}
Serial.println(")");
return status;
}
void NunchuckController::setAccelSensitivity(int *sensitivity)
{
for (int i = 0; i < 3; i++)
{
accelSensitivity_[i]=sensitivity[i];
}
}
NunchuckController nunchuckCtl=NunchuckController();