We worked on implementing the servo motor. Firstly, we studied the PWM module to correctly adjust the turning angle of the servo. Then, We wrote the function that can adjust the turning angle by inputting a number. Also, we were finalizing the choice of other peripherals, e.g. motors, physical components of the setup.

We designed the overall workflow of our shooting game, and wrote the helper functions to control the game, including defend(), attack(), ifScore(), gameOver(). The basic flow is that the defender chooses a side by pressing a button, and the signal is received and processed by defend() function, and by controlling the duty cycle, we programmed the servo to turn to the right direction. Then, the attack() function allows the user to control the direction of the shooting platform. The ifScore() function uses the signal returned by the ultrasonic sensor to determine if scored or not, and add to the defender or the attacker's score. The record() function record the scores and print to the screen using UART. The gameOver function determines if the game is over by checking if one of the player scores up to 5.

We implemented the I2C protocol to use the wii nunchuck to adjust the PWM duty cycle to control servo of the shooting platform. We also implemented the PWM control function for the other two servos used to control the shooting of the ball and the defender's action. Also, the ultrasonic sensor function is written for goal detection -- if the distance measured has changed due to the passing though of the ball, a goal signal is detected and scores are updated. The UART blue tooth module is implemented to transmit the score information to an Android phone, and an Android App is written to display the scoring information.

We bought materials and made the physical frame of the penalty game. Two motors are equipped on the platform made from foam and hard paper cover to shoot out the ball. A servo controlled by the Z button on the nunchuck is equipped on the platform to feed the ball to the shooting wheels. The servo controlled by the nunchuck is connected to the platform to adjust shooting angle. The last servo controlled by the button is equipped on the goal to simulate the defender. The ultrasonic sensor is placed in a box under the goal to sense if the ball goes in or not.

We also finished up the Android app connected to the UART bluetooth to transmit the score information to smart phone.

After testing, our project work as expected :).