Arduino + Nunchuck (qualcosa non va nello script)

ciao tutti ne approfitto in questo post per presentarmi siccome non ho trovato una sezione predisposta (o non l'ho vista) 
comincio subito con il problema che ho, possiedo un arduino duemilanove e vorrei collegarci un nunchuck (non originale comprato su ebay: http://www.ebay.it/itm/220832743549?sspagename=strk:mewnx:it&_trksid=p3984.m1497.l2649), ho seguito questa guida http://siliconrepublic.blogspot.com/2010/08/arduino-based-human-interface-device.html
con questo codice:

code: [select]

#include "ps2dev.h" // emulate ps/2 device
#include <wire.h> // communicate on i2c port
#include <string.h>
#include <math.h>
#undef int
#include <stdio.h>

uint8_t outbuf[6]; // array store arduino input
int cnt = 0;
int ledpin = 13;

ps2dev keyboard(3,2); // ps2dev object (2:data, 3:clock)
int enabled =0; // pseudo variable state of "keyboard"

int joy_x_axis; //byte 1
int joy_y_axis; //byte 2
int accel_x_axis; //byte 3
int accel_y_axis; //byte 4
int accel_z_axis; //byte 5
int z_button = 0;
int c_button = 0;
int roll = 0;
int pitch = 0;

void ack() {
//acknowledge commands
while(keyboard.write(0xfa));
}


int keyboardcommand(int command) {
unsigned char val;
switch (command) {
case 0xff: //reset
ack();
//the while loop lets wait host ready
while(keyboard.write(0xaa)!=0);
break;
case 0xfe: //resend
ack();
break;
case 0xf6: //set defaults
//enter stream mode
ack();
break;
case 0xf5: //disable data reporting
//fm
enabled = 0;
ack();
break;
case 0xf4: //enable data reporting
//fm
enabled = 1;
ack();
break;
case 0xf3: //set typematic rate
ack();
keyboard.read(&val); //do nothing rate
ack();
break;
case 0xf2: //get device id
ack();
keyboard.write(0xab);
keyboard.write(0x83);
break;
case 0xf0: //set scan code set
ack();
keyboard.read(&val); //do nothing rate
ack();
break;
case 0xee: //echo
//ack();
keyboard.write(0xee);
break;
case 0xed: //set/reset leds
ack();
keyboard.read(&val); //do nothing rate
ack();
break;
}
}

void setup() {
wire.begin (); // join i2c bus address 0x52
nunchuck_init (); // send initilization handshake
delay(2000); //initialization time in case
// send keyboard start up
while(keyboard.write(0xaa)!=0);
}

void nunchuck_init ()
{
wire.begintransmission (0x52);// transmit device 0x52
wire.send (0x40); // sends memory address
wire.send (0x00); // sends sent zero.
wire.endtransmission (); // stop transmitting
}

void send_zero ()
{
wire.begintransmission (0x52);// transmit device 0x52
wire.send (0x00); // sends 1 byte
wire.endtransmission (); // stop transmitting
}

void loop() {
wire.requestfrom (0x52, 6); // request data nunchuck
while (wire.available ())
{
outbuf[cnt] = nunchuk_decode_byte (wire.receive ());
// receive byte integer
digitalwrite (ledpin, high); // sets led on
cnt++;
}

// if recieved 6 bytes, go process them
if (cnt >= 5)
{
process ();
}

unsigned char c;
//if host device wants send command:
if( (digitalread(3)==low) || (digitalread(2) == low)) {
while(keyboard.read(&c)) ;
keyboardcommand(c);
}
else{ //send keypresses accordingly using scancodes
if(joy_y_axis > 198){keyboard.write(0x1d);}
else{ keyboard.write(0xf0); keyboard.write(0x1d);}

if(joy_y_axis < 68){keyboard.write(0x1b);}
else{ keyboard.write(0xf0); keyboard.write(0x1b);}

if(joy_x_axis < 58){keyboard.write(0x1c);}
else{ keyboard.write(0xf0); keyboard.write(0x1c);}

if(joy_x_axis > 190){keyboard.write(0x23);}
else{ keyboard.write(0xf0); keyboard.write(0x23);}


if(pitch < 65){keyboard.write(0x43);}
else{ keyboard.write(0xf0); keyboard.write(0x43);}

if(pitch > 115){keyboard.write(0x42);}
else{ keyboard.write(0xf0); keyboard.write(0x42);}

if(roll > 125 ){keyboard.write(0x3b);}
else{ keyboard.write(0xf0); keyboard.write(0x3b);}

if(roll < 55){keyboard.write(0x4b);}
else{ keyboard.write(0xf0); keyboard.write(0x4b);}


if(!z_button){keyboard.write(0x29);}
else{ keyboard.write(0xf0); keyboard.write(0x29);}

if(!c_button){keyboard.write(0x12);}
else{ keyboard.write(0xf0); keyboard.write(0x12);}
}

cnt = 0;
send_zero (); // send request next bytes
delay (10);
}


void process (){
joy_x_axis = outbuf[0]; //byte 1
joy_y_axis = outbuf[1]; //byte 2
accel_x_axis = outbuf[2] * 2 * 2; //byte 3
accel_y_axis = outbuf[3] * 2 * 2; //byte 4
accel_z_axis = outbuf[4] * 2 * 2; //byte 5

z_button = 0;
c_button = 0;

roll = 0;
pitch = 0;
// byte outbuf[5] contains bits z , c buttons
// contains least significant bits accelerometer data
// have check each bit of byte outbuf[5]
if ((outbuf[5] >> 0) & 1) //'&1' see lsb after left shifts
{
z_button = 1; //bit 0
}
if ((outbuf[5] >> 1) & 1)
{
c_button = 1; //bit 1
}

if ((outbuf[5] >> 2) & 1)
{
accel_x_axis += 1;
}
if ((outbuf[5] >> 3) & 1)
{
accel_x_axis += 2;
}

if ((outbuf[5] >> 4) & 1)
{
accel_y_axis += 1;
}
if ((outbuf[5] >> 5) & 1)
{
accel_y_axis += 2;
}

if ((outbuf[5] >> 6) & 1)
{
accel_z_axis += 1;
}
if ((outbuf[5] >> 7) & 1)
{
accel_z_axis += 2;
}

//out here values 499, 518 , 216.0 might differ
//due slight differences nunchucks
roll = (atan2( (accel_z_axis-499), (accel_x_axis-515) )/3.14159*180);
pitch = (acos( (accel_y_axis-518)/216.0 )/3.14159*180);
}


// encode data format wiimote drivers except
// needed if use 1 of regular wiimote drivers
char nunchuk_decode_byte (char x)
{
x = (x ^ 0x17) + 0x17;
return x;
}



però mi restituisce questo errore:

code: [select]


sketch_dec17a.cpp:1:48: error: ps2dev.h: no such file or directory
sketch_dec17a:11: error: 'ps2dev' not name type
sketch_dec17a.cpp: in function 'void ack()':
sketch_dec17a:26: error: 'keyboard' not declared in scope
sketch_dec17a.cpp: in function 'int keyboardcommand(int)':
sketch_dec17a:36: error: 'keyboard' not declared in scope
sketch_dec17a:57: error: 'keyboard' not declared in scope
sketch_dec17a.cpp: in function 'void setup()':
sketch_dec17a:87: error: 'keyboard' not declared in scope
sketch_dec17a.cpp: in function 'void nunchuck_init()':
sketch_dec17a:93: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a:94: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a.cpp: in function 'void send_zero()':
sketch_dec17a:101: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a.cpp: in function 'void loop()':
sketch_dec17a:109: error: 'class twowire' has no member named 'receive'

as of arduino 1.0, wire.receive() function renamed wire.read() consistency other libraries.

sketch_dec17a:124: error: 'keyboard' not declared in scope
sketch_dec17a:128: error: 'keyboard' not declared in scope
sketch_dec17a:129: error: 'keyboard' not declared in scope
sketch_dec17a:131: error: 'keyboard' not declared in scope
sketch_dec17a:132: error: 'keyboard' not declared in scope
sketch_dec17a:134: error: 'keyboard' not declared in scope
sketch_dec17a:135: error: 'keyboard' not declared in scope
sketch_dec17a:137: error: 'keyboard' not declared in scope
sketch_dec17a:138: error: 'keyboard' not declared in scope
sketch_dec17a:141: error: 'keyboard' not declared in scope
sketch_dec17a:142: error: 'keyboard' not declared in scope
sketch_dec17a:144: error: 'keyboard' not declared in scope
sketch_dec17a:145: error: 'keyboard' not declared in scope
sketch_dec17a:147: error: 'keyboard' not declared in scope
sketch_dec17a:148: error: 'keyboard' not declared in scope
sketch_dec17a:150: error: 'keyboard' not declared in scope
sketch_dec17a:151: error: 'keyboard' not declared in scope
sketch_dec17a:154: error: 'keyboard' not declared in scope
sketch_dec17a:155: error: 'keyboard' not declared in scope
sketch_dec17a:157: error: 'keyboard' not declared in scope
sketch_dec17a:158: error: 'keyboard' not declared in scope


ho provato altre guide anche con codice per nunchuck non originale ma niente da fare..
avete consigli ??
grazie per l'attenzione

ho provato anche con questo:

quote from: astrobeed on jul 26, 2011, 07:36 pm

prova con il codice che ti allego, è sicuramente funzionante sia con nunchuk originali che cloni, collega il tutto seguendo lo schemino in testa al programma.

code: [select]


/*
_________
| 1 2 3 |
|       |
| 6 5 4 |
|_-----_|

•pin 1: verde - data (arduino analog pin 4)
•pin 2: (not connected)
•pin 3: rosso - 3.3v
•pin 4: giallo - clock (arduino analog pin 5)
•pin 5: (not connected)
•pin 6: bianco - gnd
*/

#include <wire.h>

void setup()
{
serial.begin(115000);
nunchuck_init(); // inizializza il nunchuck
}

void loop()
{
nunchuck_get_data();
nunchuck_print_data();
delay(100);
}

//
// nunchuck functions
//

static uint8_t nunchuck_buf[6];   //array utilizzato per immagazzinare dati in arrivo dal nunchuck,


void nunchuck_init()
{
wire.begin();                   
wire.begintransmission(0x52);    // trasmettiamo l'indirizzo della periferica 0x52
wire.send(0x40);        // trasmettiamo l'indirizzo della memoria
wire.send(0x00);        // trasmettiamo uno 0 perchè vogliamo leggere dati
wire.endtransmission();    // smettiamo di trasmettere
}

void nunchuck_send_request()
{
wire.begintransmission(0x52);    //trasmettiamo l'indirizzo del nunchuck
wire.send(0x00);        // trasmettiamo un byte
wire.endtransmission();    // smettiamo di trasmettere
}

// ricevere dati e immagazzinarli in un buffer
int nunchuck_get_data()
{
int cnt=0;
wire.requestfrom (0x52, 6);   
while (wire.available ()) {
// decodifichiamo byte che ci arrivano e li traformiamo in un intero
nunchuck_buf[cnt] = nunchuk_decode_byte(wire.receive());
cnt++;
}
nunchuck_send_request(); 

if (cnt >= 5) {
return 1;  //restituisce 1 se fallisce
}
return 0; //restituisce 0 se dati sono stati ricevuti in maniera corretta
}

// stampare dati arrivati
// dati di accelerazione sono lunghi 10 bit
// quindi ne leggiamo 8 poi aggiungiamo
// gli ultimi 2 bit.
void nunchuck_print_data()
{
static int i=0;
int joy_x_axis = nunchuck_buf[0];
int joy_y_axis = nunchuck_buf[1];
int accel_x_axis = nunchuck_buf[2] << 2;
int accel_y_axis = nunchuck_buf[3] << 2;
int accel_z_axis = nunchuck_buf[4] << 2;

int z_button = 0;
int c_button = 0;

// byte nunchuck_buf[5] contains bits z , c buttons
// contains least significant bits accelerometer data
// have check each bit of byte outbuf[5]
if ((nunchuck_buf[5] >> 0) & 1) z_button = 1;
if ((nunchuck_buf[5] >> 1) & 1) c_button = 1;

if ((nunchuck_buf[5] >> 2) & 1) accel_x_axis += 1;
if ((nunchuck_buf[5] >> 3) & 1) accel_x_axis += 2;

if ((nunchuck_buf[5] >> 4) & 1) accel_y_axis += 1;
if ((nunchuck_buf[5] >> 5) & 1) accel_y_axis += 2;

if ((nunchuck_buf[5] >> 6) & 1) accel_z_axis += 1;
if ((nunchuck_buf[5] >> 7) & 1) accel_z_axis += 2;

serial.print(i,dec);
serial.print(",");

serial.print(accel_x_axis, dec);
serial.print(",");
serial.print(accel_y_axis, dec);
serial.print(",");
serial.print(accel_z_axis, dec);
serial.print(",");
serial.print(joy_x_axis,dec);
serial.print(",");
serial.print(joy_y_axis, dec);
serial.print(",");
serial.print(z_button, dec);
serial.print(",");
serial.print(c_button, dec);
serial.print(",");
serial.print(nunchuck_buf[5], bin);

serial.print("\r\n");  // newline
i++;
}

//  codifica nunchuck
char nunchuk_decode_byte (char x)
{
x = (x ^ 0x17) + 0x17;
return x;
}


e mi da questo errore :

code: [select]

sketch_dec17a.cpp: in function 'void nunchuck_init()':
sketch_dec17a:27: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a:28: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a.cpp: in function 'void nunchuck_send_request()':
sketch_dec17a:35: error: 'class twowire' has no member named 'send'

as of arduino 1.0, wire.send() function renamed wire.write() consistency other libraries.

sketch_dec17a.cpp: in function 'int nunchuck_get_data()':
sketch_dec17a:46: error: 'class twowire' has no member named 'receive'

as of arduino 1.0, wire.receive() function renamed wire.read() consistency other libraries.



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