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// Wii Remote IR sensor test sample code by kako http://www.kako.com
// modified output for Wii-BlobTrack program by RobotFreak http://www.letsmakerobots.com/user/1433
// modified for http://DFRobot.com by Lumi, Jan. 2014
// Adapted 2016 by D. Eichhorn for ESP8266 http://blog.squix.ch
#include <Wire.h>
int IRsensorAddress = 0xB0;
//int IRsensorAddress = 0x58;
int slaveAddress;
int ledPin = 13;
boolean ledState = false;
byte data_buf[16];
int i;
int Ix[4];
int Iy[4];
int s;
void Write_2bytes(byte d1, byte d2)
{
Wire.beginTransmission(slaveAddress);
Wire.write(d1); Wire.write(d2);
Wire.endTransmission();
}
void setup()
{
slaveAddress = IRsensorAddress >> 1; // This results in 0x21 as the address to pass to TWI
Serial.begin(115200);
pinMode(ledPin, OUTPUT); // Set the LED pin as output
Wire.begin(D5, D6);
// IR sensor initialize
Write_2bytes(0x30,0x01); delay(10);
Write_2bytes(0x30,0x08); delay(10);
Write_2bytes(0x06,0x90); delay(10);
Write_2bytes(0x08,0xC0); delay(10);
Write_2bytes(0x1A,0x40); delay(10);
Write_2bytes(0x33,0x33); delay(10);
delay(100);
}
void loop()
{
ledState = !ledState;
if (ledState) { digitalWrite(ledPin,HIGH); } else { digitalWrite(ledPin,LOW); }
//IR sensor read
Wire.beginTransmission(slaveAddress);
Wire.write(0x36);
Wire.endTransmission();
Wire.requestFrom(slaveAddress, 16); // Request the 2 byte heading (MSB comes first)
for (i=0;i<16;i++) { data_buf[i]=0; }
i=0;
while(Wire.available() && i < 16) {
data_buf[i] = Wire.read();
i++;
}
Ix[0] = data_buf[1];
Iy[0] = data_buf[2];
s = data_buf[3];
Ix[0] += (s & 0x30) <<4;
Iy[0] += (s & 0xC0) <<2;
Ix[1] = data_buf[4];
Iy[1] = data_buf[5];
s = data_buf[6];
Ix[1] += (s & 0x30) <<4;
Iy[1] += (s & 0xC0) <<2;
Ix[2] = data_buf[7];
Iy[2] = data_buf[8];
s = data_buf[9];
Ix[2] += (s & 0x30) <<4;
Iy[2] += (s & 0xC0) <<2;
Ix[3] = data_buf[10];
Iy[3] = data_buf[11];
s = data_buf[12];
Ix[3] += (s & 0x30) <<4;
Iy[3] += (s & 0xC0) <<2;
for(i=0; i<4; i++)
{
if (Ix[i] < 1000)
Serial.print("");
if (Ix[i] < 100)
Serial.print("");
if (Ix[i] < 10)
Serial.print("");
Serial.print( int(Ix[i]) );
Serial.print(",");
if (Iy[i] < 1000)
Serial.print("");
if (Iy[i] < 100)
Serial.print("");
if (Iy[i] < 10)
Serial.print("");
Serial.print( int(Iy[i]) );
if (i<3)
Serial.print(",");
}
Serial.println("");
delay(15);
}
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