Hacking into the Wii Nunchuck i2c interface in order to access its buttons, joystick and accelerometer, the inputs are then sent through Bluetooth to another device, in my case the other device was a robot prototype.
Hardware
The hardware that we use to control the robot is a hacked Nintendo Wii Nunchuck that contains an accelerometer, two buttons and a joystick coupled with an Arduino Nano, battery supply and a HC-05 acting as a master to communicate with the HC-06 on the robot, the pictures of the remote control can be seen next.
The main control that we use is the joystick in that the x axis of it controls the acceleration given by the main dc motor and the y axis of the joystick controls the lateral movement given by the pendulum servo.
For a detailed guide on wiring visit this website.
Code
For the Arduino code you can visit my github repo here
Below you can see a GIF of the controller while being used with the Robotic Sphere Drive
