Revision 0:dcab2be3274c, committed 2016-04-29

Comitter:

billycorgan123

Date:

Fri Apr 29 08:51:34 2016 +0000

Commit message:

another nunchuk reader, working with 3rd parties (nunchuk, nunchuck)

Changed in this revision

diff -r 000000000000 -r dcab2be3274c nunchuk.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nunchuk.cpp	Fri Apr 29 08:51:34 2016 +0000
@@ -0,0 +1,48 @@
+#include "nunchuk.h"
+#include "math.h"
+
+// I2C Communication
+I2C i2c(D14,D15);       // SDA, SCL
+char cmd[2];
+void Nunchuk::Init()
+{ 
+    // Disable encryption
+    cmd[0]=0xF0;
+    cmd[1]=0x55;
+    i2c.write(ADDRESS,cmd,sizeof(cmd));
+    cmd[0]=0xFB;
+    cmd[1]=0x00;
+    i2c.write(ADDRESS,cmd,sizeof(cmd));
+    
+}
+
+void Nunchuk::Update()
+{
+  char buffer[6];
+   
+    Nunchuk::accelX = 0;
+    Nunchuk::accelY = 0;
+    Nunchuk::accelZ = 0; 
+    
+    // Request data.
+    cmd[0] = 0x00;
+    i2c.write(ADDRESS, cmd, 1);
+    // Read the 6 bytes of data.
+    i2c.read(ADDRESS, buffer, 6);
+      Nunchuk::analogX = buffer[0];
+      Nunchuk::analogY = buffer[1];
+      Nunchuk::accelX  =(buffer[2] << 2) | ((buffer[5] >> 2) & 3);
+      Nunchuk::accelY  =(buffer[3] << 2) | ((buffer[5] >> 4) & 3);
+      Nunchuk::accelZ  =(buffer[4] << 2) | ((buffer[5] >> 6) & 3);  
+      Nunchuk::buttonZ =!((buffer[5] >> 0) & 1);
+      Nunchuk::buttonC =!((buffer[5] >> 1) & 1);
+    float X = Nunchuk::accelX;
+    float Y = Nunchuk::accelY;
+    float Z = Nunchuk::accelZ;
+     //Nunchuk::roll  = atan(X/(sqrt(pow(Y, 2) + pow(Z, 2))));
+    if (atan(X/(sqrt(pow(Y, 2) + pow(Z, 2)))) <0.400) Nunchuk::roll = -1;
+    else if (atan(X/(sqrt(pow(Y, 2) + pow(Z, 2)))) >0.600) Nunchuk::roll = 1;
+    else Nunchuk::roll = 0;
+
+
+}
\ No newline at end of file

diff -r 000000000000 -r dcab2be3274c nunchuk.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nunchuk.h	Fri Apr 29 08:51:34 2016 +0000
@@ -0,0 +1,52 @@
+/*
+ *  2016 Marco Valli
+ *  based on the great job done by Gabriel Bianconi for Arduino Nunchuk 
+ *  New initialization compatible with 3rd party controllers
+ *
+ */
+
+#ifndef NUNCHUK_H
+#define NUNCHUK_H
+
+#include "mbed.h"
+
+/*Example code:
+#include "mbed.h"
+#include "nunchuk.h"
+Nunchuk mydevice;
+
+int main (){
+    mydevice.Init();
+      
+    while(1){
+          mydevice.Update();
+          printf("JX= %d JY= %d", mydevice.analogX, mydevice.analogY);
+          printf("  -  AX= %d AY= %d AZ= %d", mydevice.accelX, mydevice.accelY, mydevice.accelZ);
+          printf("  -  C= %d Z= %d", mydevice.buttonC, mydevice.buttonZ);
+          printf("  -  Roll= %d\n", mydevice.roll);
+          wait(1.0);
+    }
+ 
+}      */
+
+class Nunchuk
+{
+  public:
+    int analogX;
+    int analogY;
+    int accelX;
+    int accelY;
+    int accelZ;
+    bool buttonZ;
+    bool buttonC;
+    signed char roll;  //-1    0   +1
+
+    void Init();
+    void Update();
+
+  private:
+    static const int ADDRESS=0xA4;
+};
+
+
+#endif
\ No newline at end of file