#include <Wire.h>
#include <string.h>
#include <stdio.h>
 
uint8_t outbuf[6];
 
int cnt = 0;
int ledPin = 13;
int laserPin = 12; 
int servoPin = 9;
int servoPin2 = 10;
 ac
int pulseWidth = 0;
int pulseWidth2 = 0;
 
long lastPulse = 0;
long lastPulse2 = 0;
 
int z_button = 0;
int c_button = 0;
 
int refreshTime = 20;
 
int minPulse = 1000;
int minPulse2 = 500;
 
int dtime=10;
 
#define pwbuffsize 10
long pwbuff[pwbuffsize];
long pwbuffpos = 0;
long pwbuff2[pwbuffsize];
long pwbuffpos2 = 0;
 
void setup()
{
    Serial.begin (9600);
    Wire.begin ();
    nunchuck_init ();
    pinMode(servoPin, OUTPUT);
    pinMode(servoPin2, OUTPUT);
   pinMode(laserPin, OUTPUT);
    pulseWidth = minPulse;
    pulseWidth2 = minPulse2;
    Serial.print ("Finished setupn");
}
 
void nunchuck_init()
{
    Wire.beginTransmission (0x52);
    Wire.write (0x40);
    Wire.write (0x00); 
    Wire.endTransmission ();
}
 
void send_zero()
{
    Wire.beginTransmission (0x52);
    Wire.write (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.read ());
            digitalWrite (ledPin, HIGH);
            cnt++;
        }
 
        if (cnt >= 5) {
 
                     // printNunchuckData();
 
            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:
                switch (z_button) {
                case 0:
                                    digitalWrite(laserPin, LOW);
                                    muovi();
                    break;
                case 1:
                                    digitalWrite(laserPin, HIGH);

                    muovi();
                    break;
                }
                break;
            case 0:
                switch (z_button) {
                case 0:

                    break;
                case 1:
                    //delay(3000);
                    break;
                }
                break;
            }
        }
 
        cnt = 0;
        send_zero();
 
    } // if(t==)
 
    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]; // * 2 * 2;
    int accel_y_axis = outbuf[3]; // * 2 * 2;
    int accel_z_axis = outbuf[4]; // * 2 * 2;
 
    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 ("rn");
    i++;
}
 
char nunchuk_decode_byte (char x)
{
    x = (x ^ 0x17) + 0x17;
    return x;
}
 
void muovi (){
    float tilt = (700 - outbuf[3]*2*2);
    float tilt2 = outbuf[2]*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<pwbuffsize; p++ ){
        pulseWidth += pwbuff[p];
        pulseWidth2 += pwbuff2[p];
    }
 
    pulseWidth /= pwbuffsize;
    pulseWidth2 /= pwbuffsize;
 
}