Cubic Hand project for EECS 249A course.
Dependencies: MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811
GestureRecognition.cpp@51:09796a9ee78d, 2014-12-11 (annotated)
- Committer:
- naren
- Date:
- Thu Dec 11 18:33:50 2014 +0000
- Revision:
- 51:09796a9ee78d
- Parent:
- 49:361833355173
- Child:
- 52:0f7a239cdd09
Fixed size gesture control; ; Added a different thumb threshold
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
robertbui | 40:bdd949fc3bc2 | 1 | #include "GestureRecognition.h" |
robertbui | 40:bdd949fc3bc2 | 2 | #include "mbed.h" |
robertbui | 40:bdd949fc3bc2 | 3 | |
robertbui | 40:bdd949fc3bc2 | 4 | #define MAX_COUNT 10 |
robertbui | 40:bdd949fc3bc2 | 5 | |
robertbui | 40:bdd949fc3bc2 | 6 | GestureRecognition::GestureRecognition(){ |
robertbui | 40:bdd949fc3bc2 | 7 | counter = 0; |
robertbui | 49:361833355173 | 8 | secondCounter = 0; |
robertbui | 40:bdd949fc3bc2 | 9 | } |
robertbui | 40:bdd949fc3bc2 | 10 | |
robertbui | 40:bdd949fc3bc2 | 11 | GestureRecognition::~GestureRecognition(){ |
robertbui | 40:bdd949fc3bc2 | 12 | } |
robertbui | 40:bdd949fc3bc2 | 13 | |
robertbui | 40:bdd949fc3bc2 | 14 | |
robertbui | 49:361833355173 | 15 | //Finger data is given in range of 0-150. 150 = finger is bent. 0 = finger is straight out. |
robertbui | 40:bdd949fc3bc2 | 16 | |
robertbui | 40:bdd949fc3bc2 | 17 | CubeUpdateParameters GestureRecognition::sensorToGesture(Glove data){ |
robertbui | 49:361833355173 | 18 | CubeUpdateParameters returnParams; |
robertbui | 49:361833355173 | 19 | returnParams.size = 0; |
robertbui | 49:361833355173 | 20 | returnParams.deltaX = 0; |
robertbui | 49:361833355173 | 21 | returnParams.deltaY = 0; |
robertbui | 49:361833355173 | 22 | returnParams.deltaZ = 0; |
naren | 51:09796a9ee78d | 23 | float fingerThreshold = 50.0; |
naren | 51:09796a9ee78d | 24 | float thumbThreshold = 20.0; |
robertbui | 49:361833355173 | 25 | if (++counter >= MAX_COUNT) { |
robertbui | 49:361833355173 | 26 | returnParams.size = 4; |
naren | 51:09796a9ee78d | 27 | secondCounter++; |
naren | 51:09796a9ee78d | 28 | bool fBent[5]; |
naren | 51:09796a9ee78d | 29 | for (int iter = 0; iter < 5; iter++) { |
naren | 51:09796a9ee78d | 30 | if (iter < 4) |
naren | 51:09796a9ee78d | 31 | fBent[iter] = (data.fingers[iter] > fingerThreshold); |
naren | 51:09796a9ee78d | 32 | else |
naren | 51:09796a9ee78d | 33 | fBent[iter] = (data.fingers[iter] > thumbThreshold); |
naren | 51:09796a9ee78d | 34 | } |
robertbui | 49:361833355173 | 35 | if (secondCounter > 3) { |
naren | 51:09796a9ee78d | 36 | //printf("%d %d %d %d %d\r\n", fBent[0], fBent[1], fBent[2], fBent[3], fBent[4]); |
robertbui | 49:361833355173 | 37 | secondCounter = 0; |
robertbui | 49:361833355173 | 38 | } |
naren | 51:09796a9ee78d | 39 | // Change size based on finger gesture |
naren | 51:09796a9ee78d | 40 | if (fBent[0] && fBent[1] && fBent[2] && (!fBent[3]) && fBent[4]) |
robertbui | 40:bdd949fc3bc2 | 41 | returnParams.size = 2; |
naren | 51:09796a9ee78d | 42 | else if (fBent[0] && fBent[1] && (!fBent[2]) && (!fBent[3]) && fBent[4]) |
robertbui | 40:bdd949fc3bc2 | 43 | returnParams.size = 4; |
naren | 51:09796a9ee78d | 44 | else if (fBent[0] && (!fBent[1]) && (!fBent[2]) && (!fBent[3]) && fBent[4]) |
robertbui | 40:bdd949fc3bc2 | 45 | returnParams.size = 6; |
naren | 51:09796a9ee78d | 46 | else if ((!fBent[0]) && (!fBent[1]) && (!fBent[2]) && (!fBent[3]) && fBent[4]) |
naren | 51:09796a9ee78d | 47 | returnParams.size = 8; |
robertbui | 40:bdd949fc3bc2 | 48 | //Change color |
robertbui | 49:361833355173 | 49 | // else if (data.fingers[0] > fingerThreshold && data.fingers[1] > fingerThreshold && data.fingers[2] > fingerThreshold && data.fingers[4] > fingerThreshold ) { |
naren | 51:09796a9ee78d | 50 | //returnParams.hue = data.fingers[3]/150.0; |
robertbui | 49:361833355173 | 51 | // } |
robertbui | 40:bdd949fc3bc2 | 52 | |
robertbui | 40:bdd949fc3bc2 | 53 | //Change position. Roll, pitch, and yaw are given as degrees. |
robertbui | 48:2ba6321d79fc | 54 | if (data.roll > 10 ) |
robertbui | 48:2ba6321d79fc | 55 | returnParams.deltaX = -1; |
robertbui | 48:2ba6321d79fc | 56 | else if (data.roll < -10) |
robertbui | 40:bdd949fc3bc2 | 57 | returnParams.deltaX = 1; |
robertbui | 48:2ba6321d79fc | 58 | if (data.pitch > 10) |
robertbui | 40:bdd949fc3bc2 | 59 | returnParams.deltaZ = 1; |
robertbui | 48:2ba6321d79fc | 60 | else if (data.pitch < -10) |
robertbui | 40:bdd949fc3bc2 | 61 | returnParams.deltaZ = -1; |
robertbui | 48:2ba6321d79fc | 62 | if (data.yaw > 10) |
robertbui | 49:361833355173 | 63 | returnParams.deltaY = -1; |
robertbui | 48:2ba6321d79fc | 64 | else if (data.yaw + 360 > 10 && data.yaw < 0) |
robertbui | 49:361833355173 | 65 | returnParams.deltaY = 1; |
robertbui | 40:bdd949fc3bc2 | 66 | |
robertbui | 40:bdd949fc3bc2 | 67 | counter = 0; |
robertbui | 40:bdd949fc3bc2 | 68 | |
robertbui | 40:bdd949fc3bc2 | 69 | } |
robertbui | 40:bdd949fc3bc2 | 70 | return returnParams; |
robertbui | 40:bdd949fc3bc2 | 71 | } |