Arduino / Wii controlled Lego Star Wars rocket turret

Step 3 Arduino Sketch

// Based on code from http://www.ideavirus.it/ adapted with help from Oliver at London Hackspace. Includes are: wire.h, string.h, stdio.h and Servo.h - for some reason Instructables drops them when I paste my code.

 #include  
 #include  
 #include   
 #include   // controls the trigger servo only
 
 Servo myservo;  // create servo object to control trigger servo

int pos = 90;    // variable to store the trigger servo position

 uint8_t outbuf[6]; 
  
 int cnt = 0; 
 int ledPin = 13; 
 
 int servoPin = 7; 
 int servoPin2 = 6;  
 
 int pulseWidth = 0; 
int pulseWidth2 = 0; 

 long lastPulse = 0; 
 long lastPulse2 = 0; 
 
 int z_button = 0; 
 int c_button = 0; 
  
 int refreshTime = 70;  //tweaked for FutabaS3003 servos
  
 int minPulse = 600;  //tweaked for FutabaS3003 servos
 int minPulse2 = 600;  //tweaked for FutabaS3003 servos
 int maxPulse     =  2400; // maximum servo position
 int maxPuls2e     =  2400; // maximum servo position
 
 int dtime=10; 
  
 #define pwbuffsize 10 
 long pwbuff[pwbuffsize]; 
 long pwbuffpos = 0; 
 long pwbuff2[pwbuffsize]; 
 long pwbuffpos2 = 0; 
  
 void setup() 
 { 
    myservo.attach(8);  // attaches the trigger servo on pin 8 to the servo object
   
     Serial.begin (9600); 
     Wire.begin (); 
     nunchuck_init (); 
     pinMode(servoPin, OUTPUT); 
     pinMode(servoPin2, OUTPUT); 

     pulseWidth = minPulse; 
    pulseWidth2 = minPulse2; 

     Serial.print ("Finished setup\n"); 
 } 
  
 void nunchuck_init() 
 { 
     Wire.beginTransmission (0x52); 
     Wire.send (0x40); 
     Wire.send (0x00);   
     Wire.endTransmission (); 
 } 
  
 void send_zero() 
 { 
     Wire.beginTransmission (0x52); 
     Wire.send (0x00); 
     Wire.endTransmission (); 
 } 
  
 int t = 0; 
  
 void loop() 
 { 
  
     t++; 
     long last = millis(); 
  
     if( t == 1) { 
  
         t = 0; 
  
         Wire.requestFrom (0x52, 6); 
  
         while (Wire.available ()) { 
             outbuf[cnt] = nunchuk_decode_byte (Wire.receive ()); 
             digitalWrite (ledPin, HIGH); 
             cnt++; 
         } 
  
         if (cnt >= 5) { 
  
             int z_button = 0; 
             int c_button = 0; 
  
             if ((outbuf[5] >> 0) & 1)  
                 z_button = 1; 
             if ((outbuf[5] >> 1) & 1) 
                 c_button = 1; 
  
             switch (c_button) { 
             case 1: 
          
             muovi( outbuf[3] ,outbuf[2] ); 
                 break; 
             case 0: 
             muovi( outbuf[1]/2+0x3E ,outbuf[0]/2+0x3E );
                 break; 
             }
          
            switch (z_button) { 
                case 0: 
               
     for(pos = 90; pos >= 120; pos += 1)  // fires trigger when Z button pressed
  {                                 
    myservo.write(pos);             
    delay(15);                       
  }
  for(pos = 120; pos >= 90; pos -= 2)     // returns trigger to center
  {                               
    myservo.write(pos);             
    delay(15);                        
   } 
 
                    break; 
                 case 1: 
                     break; 
       } 
          
       } 
  
         cnt = 0; 
         send_zero(); 
  
   } 
  
     updateServo(); 
  
     delay(dtime); 
 } 
 
 
 void updateServo()
 { 
  
     if (millis() - lastPulse >= refreshTime) { 
 
         digitalWrite(servoPin, HIGH); 
         delayMicroseconds(pulseWidth); 
         digitalWrite(servoPin, LOW); 
  
         digitalWrite(servoPin2, HIGH); 
         delayMicroseconds(pulseWidth2); 
         digitalWrite(servoPin2, LOW); 
 
         lastPulse = millis(); 
     } 
 } 
  
 int i=0; 
 void printNunchuckData() 
 { 
     int joy_x_axis = outbuf[0]; 
     int joy_y_axis = outbuf[1]; 
     int accel_x_axis = outbuf[2]; 
     int accel_y_axis = outbuf[3]; 
     int accel_z_axis = outbuf[4];
  
     int z_button = 0; 
     int c_button = 0; 
  
     if ((outbuf[5] >> 0) & 1)  
         z_button = 1; 
     if ((outbuf[5] >> 1) & 1) 
         c_button = 1; 
     if ((outbuf[5] >> 2) & 1)  
         accel_x_axis += 2; 
     if ((outbuf[5] >> 3) & 1) 
         accel_x_axis += 1; 
 
     if ((outbuf[5] >> 4) & 1) 
         accel_y_axis += 2; 
     if ((outbuf[5] >> 5) & 1) 
         accel_y_axis += 1; 
  
     if ((outbuf[5] >> 6) & 1) 
         accel_z_axis += 2; 
     if ((outbuf[5] >> 7) & 1) 
         accel_z_axis += 1; 
  
     Serial.print (i,DEC); 
     Serial.print ("\t"); 
  
     Serial.print ("X: "); 
     Serial.print (joy_x_axis, DEC); 
     Serial.print ("\t"); 
  
     Serial.print ("Y: "); 
     Serial.print (joy_y_axis, DEC); 
     Serial.print ("\t"); 
  
     Serial.print ("AccX: "); 
     Serial.print (accel_x_axis, DEC); 
     Serial.print ("\t"); 
  
     Serial.print ("AccY: "); 
     Serial.print (accel_y_axis, DEC); 
     Serial.print ("\t"); 
  
     Serial.print ("AccZ: "); 
     Serial.print (accel_z_axis, DEC); 
     Serial.print ("\t"); 
  
     Serial.print (z_button, DEC); 
     Serial.print (" "); 
     Serial.print (c_button, DEC); 
     Serial.print ("\r\n"); 
     i++; 
 } 
  
 char nunchuk_decode_byte (char x) 
 { 
     x = (x ^ 0x17) + 0x17; 
     return x; 
 } 
 
 void muovi ( uint8_t x, uint8_t y){ 
     float tilt = (700 - x*2*2);
     float tilt2 = (0x7E - y + 0x7E) *2*2;
  
     tilt = (tilt); 
     pulseWidth = (tilt * 5) + minPulse; 
  
     tilt2 = (tilt2-288); 
     pulseWidth2 = (tilt2 * 5) + minPulse2; 
  
     pwbuff[pwbuffpos] = pulseWidth; 
     pwbuff2[pwbuffpos2] = pulseWidth2; 
      
     if( ++pwbuffpos == pwbuffsize ) pwbuffpos = 0; 
     if( ++pwbuffpos2 == pwbuffsize ) pwbuffpos2 = 0; 
  
  
     pulseWidth=0; 
     pulseWidth2=0; 
  
     for( int p=0; p          pulseWidth += pwbuff[p]; 
         pulseWidth2 += pwbuff2[p]; 
     } 
  
     pulseWidth /= pwbuffsize; 
     pulseWidth2 /= pwbuffsize; 
  
 } 

Comments

[Dannne11]

im getting error


sketch_feb14a.cpp:3:13: error: #include expects "FILENAME" or
sketch_feb14a.cpp:4:13: error: #include expects "FILENAME" or
sketch_feb14a.cpp:5:14: error: #include expects "FILENAME" or
sketch_feb14a.cpp:6:47: error: #include expects "FILENAME" or
sketch_feb14a:7: error: 'Servo' does not name a type
sketch_feb14a.cpp: In function 'void setup()':
sketch_feb14a:45: error: 'myservo' was not declared in this scope
sketch_feb14a:48: error: 'Wire' was not declared in this scope
sketch_feb14a.cpp: In function 'void nunchuck_init()':
sketch_feb14a:61: error: 'Wire' was not declared in this scope
sketch_feb14a.cpp: In function 'void send_zero()':
sketch_feb14a:69: error: 'Wire' was not declared in this scope
sketch_feb14a.cpp: In function 'void loop()':
sketch_feb14a:86: error: 'Wire' was not declared in this scope
sketch_feb14a:119: error: 'myservo' was not declared in this scope
sketch_feb14a:124: error: 'myservo' was not declared in this scope
sketch_feb14a.cpp: In function 'void muovi(uint8_t, uint8_t)':
sketch_feb14a:250: error: expected `;' before 'pulseWidth'
sketch_feb14a:250: error: expected `)' before ';' token
sketch_feb14a:251: error: name lookup of 'p' changed for new ISO 'for' scoping
sketch_feb14a:250: error: using obsolete binding at 'p'
sketch_feb14a.cpp: At global scope:
sketch_feb14a:254: error: expected constructor, destructor, or type conversion before '/=' token
sketch_feb14a:255: error: expected constructor, destructor, or type conversion before '/=' token
sketch_feb14a:257: error: expected declaration before '}' token

[Jonathan Robson]

Please read step 3 carefully. It looks like you didn't add the includes correctly.