Looking for predator cannon arm 3-d files

ksj

Blooded
I have managed to get the Honus code piece to work from 2007. I have updated it to work with updated wii nunchuck. Unfortunately ALL of the original creators are no longer an available resource.

On the plus side robotics is the new hotness especially with job automation on the rise. Servos are becoming smaller and more powerful. Arduino and its brethren are become a multitude of options with everyone entering the fray to get some market share.

I would prefer to work with one of the original bracket assemblies put out by Carl J Toti and it looks like he used a 3-d printer of some form back in the day. Unfortunately he got black listed.

Failing that I will have to get with a robotics arm assembly manufacturer.
Something like this:
Lynxmotion Wrist Rotate Upgrade (Medium Duty)

Honestly the same code base would work great on an animatronic parrot, a terminator facimily arm.
 

ksj

Blooded
Code:
/*
 * Example 6
 * Nunchuck control for four servos and two button inputs
 * Honus 2007
 * This allows the use of a Wii nunchuck as an input device and is modified/extended from the original code
 * by Tod E. Kurt and Windmeadow Labs
 *2007 Tod E. Kurt, http://todbot.com/blog/
 *The Wii Nunchuck reading code is taken from Windmeadow Labs, http://www.windmeadow.com/node/42
 * ArduinoNunchuk.cpp - Improved Wii Nunchuk library for Arduino
 *
 * Copyright 2011-2013 Gabriel Bianconi, http://www.gabrielbianconi.com/
 *
 * Project URL: http://www.gabrielbianconi.com/projects/arduinonunchuk/
 *
 * Based on the following resources:
 *   http://www.windmeadow.com/node/42
 *   http://todbot.com/blog/2008/02/18/wiichuck-wii-nunchuck-adapter-available/
 *   http://wiibrew.org/wiki/Wiimote/Extension_Controllers
 *
 */
// www.facebook.com/ArduinoCenter
// https://blog.underc0de.org/arduino-wii-nunchuck-servo-motores/
// Original Code base credited to Undercode
// Code adapted from Sean Maio Crybabyfx setup
//https://github.com/outcry27/crybabyFX
// Updated by knoxvilles_joker 2017
// http://facebook.com/knoxvillesjoker
// more instructions documented at
// http://alienslegacy.com
 

#include "Wire.h" 

#include "ArduinoNunchuk.h"
#include <Servo.h>
// This is imported from the smartgun setup
#include <SoftwareSerial.h>
#include "Adafruit_Soundboard.h"

// pins used for Serial communication with the audio board
// FX board must be grounded on the uart pin.
// I believe these have to be crossed tx on one end and rx
// on the other end.
//

#define SFX_TX 1
#define SFX_RX 0
// initializes the sound board serial connection
SoftwareSerial ss = SoftwareSerial(SFX_TX, SFX_RX);
Adafruit_Soundboard sfx = Adafruit_Soundboard(&ss, NULL, NULL);

//Creates the objects to control the servos
ArduinoNunchuk nunchuk = ArduinoNunchuk();
//  Servo servoPin1;
//  Servo servoPin2;
//  Servo servoPin3;
//  Servo servoPin4;


int ledPin1 = 13;       // Control pin for LED 1
int ledPin2 = 12;       // Control pin for LED 2
 int servoPin1 = 9;      // Control pin for servo motor
 int servoPin2 = 8;      // Control pin for servo motor
 int servoPin3 = 7;      // Control pin for servo motor
 int servoPin4 = 6;      // Control pin for servo motor

 int pulseWidth1 = 0;    // Amount to pulse the servo 1
 int pulseWidth2 = 0;    // Amount to pulse the servo 2
 int pulseWidth3 = 0;    // Amount to pulse the servo 3
 int pulseWidth4 = 0;    // Amount to pulse the servo 4

int refreshTime = 20;  // the time in millisecs needed in between pulses

//Initializes the variables
int xjoystick;
int yjoystick;
int xtilt;
int ytilt;


long lastPulse1;
long lastPulse2;
long lastPulse3;
long lastPulse4;

int minPulse = 700;   // minimum pulse width
int loop_cnt=0;


void setup() {
  // put your setup code here, to run once:
Serial.begin(19200);
  ss.begin(9600);
 Serial.print("loading sound card init\n");
  delay(800); 
  Serial.print("card initialized");
   //give the audio board time to power up.
  // Otherwise bootup sound will be called before audio
  // board is ready.
  // this plays an initialization sound.
  Serial.print("#0\n");
    //Initializes nunchuck ans servos
  nunchuk.init();

// servoPin1.attach(9);
// servoPin2.attach(8);
// servoPin3.attach(7);
// servoPin4.attach(6);
 

  pinMode(servoPin1, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPin2, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPin3, OUTPUT);  // Set servo pin as an output pin
  pinMode(servoPin4, OUTPUT);  // Set servo pin as an output pin
 
  pulseWidth1 = minPulse;      // Set the motor position to the minimum
  pulseWidth2 = minPulse;      // Set the motor position to the minimum
  pulseWidth3 = minPulse;      // Set the motor position to the minimum
  pulseWidth4 = minPulse;      // Set the motor position to the minimum
  pinMode(ledPin1, OUTPUT);  // sets the LED pin as output
  pinMode(ledPin2, OUTPUT);
  digitalWrite(ledPin1, LOW); // sets the LED pin LOW (turns it off)
  digitalWrite(ledPin2, LOW);

}

void loop() {
  // put your main code here, to run repeatedly:
  checkNunchuck1();
  updateServo1();   // update servo 1 position
  checkNunchuck2();
  updateServo2();   // update servo 2 position
  checkNunchuck3();
  updateServo3();   // update servo 3 position
  checkNunchuck4();
  updateServo4();   // update servo 4 position
   if(nunchuk.zButton == 1)  {    // light the LED if z button is pressed
    digitalWrite(ledPin1, HIGH);
    Serial.print("#1\n");
   }
  else {
    digitalWrite(ledPin1,LOW);

  }
  
     if(nunchuk.cButton == 1) {     // light the LED if c button is pressed
    digitalWrite(ledPin2, HIGH);
    Serial.print("#2\n");
     }
  else {
    digitalWrite(ledPin2,LOW);
  }

   if(nunchuk.cButton == 1 && nunchuk.zButton == 1) {
      digitalWrite(ledPin2, HIGH);
      digitalWrite(ledPin1, HIGH);
      Serial.print("#3\n");
       }
  else { 
      digitalWrite(ledPin1,LOW);
      digitalWrite(ledPin2,LOW);
          }
    
    delay(1);        // this is here to give a known time per loop

 //Guardamos los valores que nos manda el Nunchuk en las variables
  xjoystick = nunchuk.analogX;
  xjoystick = constrain(xjoystick, 26, 226);
  xjoystick = map(xjoystick, 26, 226, 0, 180);
 
  yjoystick = nunchuk.analogY;
  yjoystick = constrain(yjoystick, 26, 226);
  yjoystick = map(yjoystick, 26, 226, 180, 0);
 
  xtilt = nunchuk.accelX;
  xtilt = constrain(xtilt, 320, 720);
  xtilt = map(xtilt, 320, 720, 180, 0);
 
  ytilt = nunchuk.accelY;
  ytilt = constrain(ytilt, 320, 720);
  ytilt = map(ytilt, 320, 720, 0, 180);
// This prints the serial status of the nunchuck.
  Serial.print ("Joystick X: ");
  Serial.print (xjoystick, DEC);
  Serial.print ("\t");
 
  Serial.print ("Joystick Y: ");
  Serial.print (yjoystick, DEC);
  Serial.print ("\t");
 
  Serial.print ("X: ");
  Serial.print (xtilt, DEC);
  Serial.print ("\t");
 
  Serial.print ("Y: ");
  Serial.print (ytilt, DEC);
  Serial.print ("\t");
 
  nunchuk.update();
 
  if (nunchuk.cButton == 1) {
    Serial.print("--C--  ");
  }
 
  if (nunchuk.zButton == 1) {
    Serial.print("--Z--  ");
  }
 
  if (nunchuk.cButton == 1 && nunchuk.zButton == 1) {
    Serial.print("--Z-C--");
  }


 
  Serial.print ("\r\n");


}

void checkNunchuck1()
{
  if( loop_cnt > 100 ) {  // loop()s is every 1msec, this is every 100msec
  


    float tilt = xjoystick;    // x-axis, in this case ranges from ~70 - ~185
    tilt = (tilt - 70) * 1.5;        // convert to angle in degrees, roughly
    pulseWidth1 = (tilt * 9) + minPulse; // convert angle to microseconds

//   servoPin1.write(xjoystick);
  
    loop_cnt = 0;  // reset for
  }
  loop_cnt++;
 
}

// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo1()
{
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse1 >= refreshTime) {
    digitalWrite(servoPin1, HIGH);    // Turn the motor on
    delayMicroseconds(pulseWidth1);   // Length of the pulse sets the motor position
    digitalWrite(servoPin1, LOW);    // Turn the motor off
    lastPulse1 = millis();            // save the time of the last pulse
  }
}

void checkNunchuck2()
{
  if( loop_cnt > 100 ) {  // loop()s is every 1msec, this is every 100msec
  
//    nunchuck_get_data();
//    nunchuck_print_data();

    float tilt = yjoystick;    // y-axis, in this case ranges from ~70 - ~185
    tilt = (tilt - 70) * 1.5;        // convert to angle in degrees, roughly
    pulseWidth2 = (tilt * 9) + minPulse; // convert angle to microseconds
  
    loop_cnt = 0;  // reset for
  }
  loop_cnt++;
 
}

// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo2()
{
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse2 >= refreshTime) {
    digitalWrite(servoPin2, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth2);   // Length of the pulse sets the motor position
    digitalWrite(servoPin2, LOW);    // Turn the motor off
    lastPulse2 = millis();            // save the time of the last pulse
  }
}

void checkNunchuck3()
{
  if( loop_cnt > 100 ) {  // loop()s is every 1msec, this is every 100msec
  
//    nunchuck_get_data();
//    nunchuck_print_data();

    float tilt = xtilt;    // x-axis, in this case ranges from ~70 - ~185
    tilt = (tilt - 70) * 1.5;        // convert to angle in degrees, roughly
    pulseWidth3 = (tilt * 9) + minPulse; // convert angle to microseconds
  
    loop_cnt = 0;  // reset for
  }
  loop_cnt++;
 
}

// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo3()
{
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse3 >= refreshTime) {
    digitalWrite(servoPin3, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth3);   // Length of the pulse sets the motor position
    digitalWrite(servoPin3, LOW);    // Turn the motor off
    lastPulse3 = millis();            // save the time of the last pulse
  }
}

void checkNunchuck4()
{
  if( loop_cnt > 100 ) {  // loop()s is every 1msec, this is every 100msec
  
//    nunchuck_get_data();
//    nunchuck_print_data();

    float tilt = ytilt;    // y-axis, in this case ranges from ~70 - ~185
    tilt = (tilt - 70) * 1.5;        // convert to angle in degrees, roughly
    pulseWidth4 = (tilt * 9) + minPulse; // convert angle to microseconds
  
    loop_cnt = 0;  // reset for
  }
  loop_cnt++;
 
}

// called every loop().
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo4()
{
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse4 >= refreshTime) {
    digitalWrite(servoPin4, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth4);   // Length of the pulse sets the motor position
    digitalWrite(servoPin4, LOW);    // Turn the motor off
    lastPulse4 = millis();            // save the time of the last pulse
  }
}
Code:
/*
 * ArduinoNunchuk.cpp - Improved Wii Nunchuk library for Arduino
 *
 * Copyright 2011-2013 Gabriel Bianconi, http://www.gabrielbianconi.com/
 *
 * Project URL: http://www.gabrielbianconi.com/projects/arduinonunchuk/
 *
 * Based on the following resources:
 *   http://www.windmeadow.com/node/42
 *   http://todbot.com/blog/2008/02/18/wiichuck-wii-nunchuck-adapter-available/
 *   http://wiibrew.org/wiki/Wiimote/Extension_Controllers
 *
 */

#include <Arduino.h>
#include <Wire.h>
#include "ArduinoNunchuk.h"

#define ADDRESS 0x52

void ArduinoNunchuk::init()
{
  Wire.begin();

  ArduinoNunchuk::_sendByte(0x55, 0xF0);
  ArduinoNunchuk::_sendByte(0x00, 0xFB);

  ArduinoNunchuk::update();
}

void ArduinoNunchuk::update()
{
  int count = 0;
  int values[6];

  Wire.requestFrom(ADDRESS, 6);

  while(Wire.available())
  {
    values[count] = Wire.read();
    count++;
  }

  ArduinoNunchuk::analogX = values[0];
  ArduinoNunchuk::analogY = values[1];
  ArduinoNunchuk::accelX = (values[2] << 2) | ((values[5] >> 2) & 3);
  ArduinoNunchuk::accelY = (values[3] << 2) | ((values[5] >> 4) & 3);
  ArduinoNunchuk::accelZ = (values[4] << 2) | ((values[5] >> 6) & 3);
  ArduinoNunchuk::zButton = !((values[5] >> 0) & 1);
  ArduinoNunchuk::cButton = !((values[5] >> 1) & 1);

  ArduinoNunchuk::_sendByte(0x00, 0x00);
}

void ArduinoNunchuk::_sendByte(byte data, byte location)
{
  Wire.beginTransmission(ADDRESS);

  Wire.write(location);
  Wire.write(data);

  Wire.endTransmission();

  delay(10);
}
Code:
/*
 * ArduinoNunchuk.h - Improved Wii Nunchuk library for Arduino
 *
 * Copyright 2011-2013 Gabriel Bianconi, http://www.gabrielbianconi.com/
 *
 * Project URL: http://www.gabrielbianconi.com/projects/arduinonunchuk/
 *
 * Based on the following resources:
 *   http://www.windmeadow.com/node/42
 *   http://todbot.com/blog/2008/02/18/wiichuck-wii-nunchuck-adapter-available/
 *   http://wiibrew.org/wiki/Wiimote/Extension_Controllers
 *
 */

#ifndef ArduinoNunchuk_H
#define ArduinoNunchuk_H

#include <Arduino.h>

class ArduinoNunchuk
{
  public:
    int analogX;
    int analogY;
    int accelX;
    int accelY;
    int accelZ;
    int zButton;
    int cButton;

    void init();
    void update();

  private:
    void _sendByte(byte data, byte location);
};

#endif
 

ksj

Blooded
Above is the updated code pieces I managed to work. The bottom too have to be manually added as libraries for everything to work.

I will work later to update the code with comments and give substantial credits where it is due and note contributions. I had to spend 3 months in my spare off time when I had energy to code and test.
 
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