Wiichuck controlled RC Car

// Created by Elie Rosen with code from Adam Stambler and Tod E. Kurt

#define motor1Dir 7
#define motor2Dir 8
#define motor1PWM 9
#define motor2PWM 10
#define motor1Enable 11
#define motor2Enable 12

#include <avr/interrupt.h>
#include <Wire.h>
#include "nunchuck_funcs.h"


byte joyx,joyy,accx,accy,zbut,cbut;

void setMotorVel(int dirPin, int pwmPin, int velocity){
  if (velocity >= 255) velocity = 255;
  if (velocity <= -255) velocity = -255;

  if (velocity == 0)
  {
    digitalWrite(dirPin, HIGH);
    digitalWrite(pwmPin, HIGH);
  }
  else if(velocity <0){  // Reverse
    digitalWrite(dirPin, HIGH);
    analogWrite(pwmPin, 255+velocity);
  }
  else if(velocity >0){ // Forward
    digitalWrite(dirPin,LOW);
    analogWrite(pwmPin, velocity);
  }
}


void setLeftMotorSpeed(int velocity)
{
  setMotorVel(motor1Dir, motor1PWM, -velocity);

}

void setRightMotorSpeed(int velocity){
  setMotorVel(motor2Dir, motor2PWM, -velocity);
}

void initMotorDriver()
{
  pinMode(motor1Dir, OUTPUT);
  pinMode(motor2Dir, OUTPUT);

  pinMode(motor1Enable, OUTPUT);
  pinMode(motor2Enable, OUTPUT);
  digitalWrite(motor1Enable,HIGH);
  digitalWrite(motor2Enable,HIGH);
  setLeftMotorSpeed(0); // make sure the motors are stopped
  setRightMotorSpeed(0);
}

#include <stdio.h>

void Stop()
{
  setLeftMotorSpeed(0);
  setRightMotorSpeed(0);
}


void goForward()
{
  setLeftMotorSpeed(255);
  setRightMotorSpeed(255);
}

void goRight()
{
  setLeftMotorSpeed(255);
  setRightMotorSpeed(-255);
}

void goLeft()
{
  setLeftMotorSpeed(-255);
  setRightMotorSpeed(255);
}
void goReverse()
{
  setLeftMotorSpeed(-255);
  setRightMotorSpeed(-255);
}

void setup()
{
    Serial.begin(19200);
    nunchuck_setpowerpins();
    nunchuck_init(); // send the initilization handshake
    initMotorDriver();
    setLeftMotorSpeed(0);
    setRightMotorSpeed(0);
    delay(500);
    Serial.println("Begin your drive");
}

void loop()
{
        nunchuck_get_data();
        joyx = nunchuck_joyx();
        joyy = nunchuck_joyy();
        accx  = nunchuck_accelx(); // ranges from approx 70 - 182
        accy  = nunchuck_accely(); // ranges from approx 65 - 173
        zbut = nunchuck_zbutton();
        cbut = nunchuck_cbutton();


      // Serial.print("Joyx: "); Serial.print((byte)joyx,DEC);
      // Serial.print("\tJoyy: "); Serial.println((byte)joyy,DEC);


  if (joyx>125 && joyx<135 && joyy>128 && joyy<138)
  {
    Stop();
    Serial.println("Stop");
  }
  if (joyy>=200)
  {
    goForward();
     Serial.println("Foward");
  }
  if (joyx<=45)
  {
    goLeft();
     Serial.println("Left");
  }
  if (joyx>=200)
  {
    goRight();
     Serial.println("Right");
  }
  if (joyy<=40)
  {
    goReverse();
     Serial.println("Reverse");
  }
   delay(100);
}