Arduino Sketch to Control Pan + Tilt Webcam With Wii Nunchuck

#include <Wire.h>
#include <string.h>
#include <stdio.h>

uint8_t outbuf[6];

int cnt = 0;
int ledPin = 13;

int servoPin = 7;
int servoPin2 = 6;

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()
{
    beginSerial (19200);
    Wire.begin ();
    nunchuck_init ();
    pinMode(servoPin, OUTPUT);
    pinMode(servoPin2, OUTPUT);

    pulseWidth = minPulse;
    pulseWidth2 = minPulse2;
    Serial.print ("Finished setup\n");
}

void nunchuck_init()
{
    Wire.beginTransmission (0x52);
    Wire.send (0x40);
    Wire.send (0x00);  
    Wire.endTransmission ();
}

void send_zero()
{
    Wire.beginTransmission (0x52);
    Wire.send (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.receive ());
            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:
                    break;
                case 1:
                    muovi();
                    break;
                }
                break;
            case 0:
                switch (z_button) {
                case 0:
                    delay(10000);
                    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 ("\r\n");
    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;

}