6 Shot Arduino Rubber Band Turret (Wii Nunchuck + Arduino)

Now for the real fun: I2C communication!

Wii Nunchuks communicate through a language called I2C, which isn't insanely complicated, but we have an Arduino library to deal with that, the Wire library.

Here is my code, make what you will of it!

[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[[

#include //include the Wire library
#include
Servo LR; //servo for Left-Right movement
Servo UD; //servo for Up-Down movement
Servo bang; //servo for shooting rubber bands

char nunchuck = 0xA4 >> 1; //sets nunchuck address as 0xA4 (operationally 0x52)

uint8_t nunData[6]; //for storing data

int chunk; //for keeping track of the byte size chunks of data
int joyX;
int joyY;
int accelX; //make sure to add two bits because of the nunchuck's packaging protocol
int accelY;
int accelZ;
byte Zbutt; //isolates last bit of numData[5]
byte Cbutt;


void setup() {
LR.attach(9);
UD.attach(10);
bang.attach(11);

Serial.begin(19200);
Wire.begin(); //starts I2C communication
initialize(); //sets up the nunchuck
delay(100);
}

void initialize() {
Wire.beginTransmission (0x52); // transmit to device 0x52
Wire.send (0x40); // sends memory address
Wire.send (0x00); // sends sent a zero.
Wire.endTransmission (); // stop transmitting
}

void loop() {


Wire.requestFrom(nunchuck, 6); //send me that data!
chunk = 0;
while(Wire.available()) { //while there is data to send
nunData[chunk] = decode(Wire.receive()); //stores data to value 'chunk' of nunData, as well as decodes it
chunk++;
}

makeVars();

convert(); //package the sensor data
delay(50);
}

void convert() { //tells nunchuck to "package" the sensor data
Wire.beginTransmission(nunchuck); //tell nunchuck to listen
Wire.send(0x00); //sends zero
Wire.endTransmission(); //STOP
}

void makeVars() {
int joyX = nunData[0];
int joyY = nunData[1];

int accelX = nunData[2] * 2 * 2; //make sure to add two bits because of the nunchuck's packaging protocol
int accelY = nunData[3] * 2 * 2;
int accelZ = nunData[4] * 2 * 2;

byte Zbutt = (nunData[5] >> 0) & 1; //isolates last bit of numData[5]
byte Cbutt = (nunData[5] >> 1) & 1;

accelX = accelX + (nunData[5] >> 2) + 2 * (nunData[5] >> 3); //adds the two missing bits to each accel value (missing bits found in 6th Byte)
accelY = accelY + (nunData[5] >> 4) + 2 * (nunData[5] >> 5);
accelZ = accelZ + (nunData[5] >> 6) + 2 * (nunData[5] >> 7);

int horiz = map(joyX, 23, 230, 102, 78); //makes it so there is a small area in the middle where the joystick won't actuate anything (X direction)
if (abs(horiz - 90) <= 2) {
horiz = 90;
}
else if (horiz > 90) {
horiz -= 2;
}
else if (horiz < 90) {
horiz += 2;
}

int vert = map(joyY, 28, 231, 80, 100); //makes it so there is a small area in the middle where the joystick won't actuate anything (Y direction)
if (abs(vert - 90) <= 2) {
vert = 90;
}
else if (vert > 90) {
vert -= 2;
}
else if (vert < 90) {
vert += 2;
}

int shoot = 90; //creates shooting servo value

if ((Zbutt == 0) && (Cbutt != 0)) { //if Z is pressed, rotate shooting forward servo slowly
shoot = 95;
}

if ((Cbutt == 0) && (Zbutt != 0)) { //if C is pressed, rotate shooting backward servo quickly
shoot = 82;
}


LR.send(horiz); //send all the servo values
UD.send(vert);
bang.send(shoot);

}

char decode (byte x) { //decodes sensor value (referred to by an earlier statement)
x = (x ^ 0x17) + 0x17; //I have no idea what this means...
return x;
}


]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]]