Cubic Hand project for EECS 249A course.
Dependencies: MMA8451Q TSI cc3000_hostdriver_mbedsocket NVIC_set_all_priorities mbed Multi_WS2811
GestureRecognition.cpp@49:361833355173, 2014-12-11 (annotated)
- Committer:
- robertbui
- Date:
- Thu Dec 11 17:49:21 2014 +0000
- Revision:
- 49:361833355173
- Parent:
- 48:2ba6321d79fc
- Child:
- 51:09796a9ee78d
Gesture parameters update.
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; |
robertbui | 49:361833355173 | 23 | int fingerThreshold = 50; |
robertbui | 49:361833355173 | 24 | if (++counter >= MAX_COUNT) { |
robertbui | 49:361833355173 | 25 | returnParams.size = 4; |
robertbui | 49:361833355173 | 26 | if (secondCounter > 3) { |
robertbui | 49:361833355173 | 27 | printf("%f\r\n", data.fingers[0]); |
robertbui | 49:361833355173 | 28 | secondCounter = 0; |
robertbui | 49:361833355173 | 29 | } |
robertbui | 49:361833355173 | 30 | secondCounter++; |
robertbui | 40:bdd949fc3bc2 | 31 | //Change size based on finger gesture |
robertbui | 49:361833355173 | 32 | /*if (data.fingers[0] > fingerThreshold && data.fingers[1] > fingerThreshold && data.fingers[2] > fingerThreshold && data.fingers[3] < fingerThreshold && data.fingers[4] > fingerThreshold ) |
robertbui | 40:bdd949fc3bc2 | 33 | returnParams.size = 2; |
robertbui | 49:361833355173 | 34 | else if (data.fingers[0] > fingerThreshold && data.fingers[1] > fingerThreshold && data.fingers[2] < fingerThreshold && data.fingers[3] < fingerThreshold && data.fingers[4] > fingerThreshold ) |
robertbui | 40:bdd949fc3bc2 | 35 | returnParams.size = 4; |
robertbui | 49:361833355173 | 36 | else if (data.fingers[0] > fingerThreshold && data.fingers[1] < fingerThreshold && data.fingers[2] < fingerThreshold && data.fingers[3] < fingerThreshold && data.fingers[4] > fingerThreshold ) |
robertbui | 40:bdd949fc3bc2 | 37 | returnParams.size = 6; |
robertbui | 49:361833355173 | 38 | else if (data.fingers[0] < fingerThreshold && data.fingers[1] < fingerThreshold && data.fingers[2] < fingerThreshold && data.fingers[3] < 75 && data.fingers[4] > 75 ) |
robertbui | 49:361833355173 | 39 | returnParams.size = 8; */ |
robertbui | 40:bdd949fc3bc2 | 40 | //Change color |
robertbui | 49:361833355173 | 41 | // else if (data.fingers[0] > fingerThreshold && data.fingers[1] > fingerThreshold && data.fingers[2] > fingerThreshold && data.fingers[4] > fingerThreshold ) { |
robertbui | 40:bdd949fc3bc2 | 42 | returnParams.hue = data.fingers[3]/150.0; |
robertbui | 49:361833355173 | 43 | // } |
robertbui | 40:bdd949fc3bc2 | 44 | |
robertbui | 40:bdd949fc3bc2 | 45 | //Change position. Roll, pitch, and yaw are given as degrees. |
robertbui | 48:2ba6321d79fc | 46 | if (data.roll > 10 ) |
robertbui | 48:2ba6321d79fc | 47 | returnParams.deltaX = -1; |
robertbui | 48:2ba6321d79fc | 48 | else if (data.roll < -10) |
robertbui | 40:bdd949fc3bc2 | 49 | returnParams.deltaX = 1; |
robertbui | 48:2ba6321d79fc | 50 | if (data.pitch > 10) |
robertbui | 40:bdd949fc3bc2 | 51 | returnParams.deltaZ = 1; |
robertbui | 48:2ba6321d79fc | 52 | else if (data.pitch < -10) |
robertbui | 40:bdd949fc3bc2 | 53 | returnParams.deltaZ = -1; |
robertbui | 48:2ba6321d79fc | 54 | if (data.yaw > 10) |
robertbui | 49:361833355173 | 55 | returnParams.deltaY = -1; |
robertbui | 48:2ba6321d79fc | 56 | else if (data.yaw + 360 > 10 && data.yaw < 0) |
robertbui | 49:361833355173 | 57 | returnParams.deltaY = 1; |
robertbui | 40:bdd949fc3bc2 | 58 | |
robertbui | 40:bdd949fc3bc2 | 59 | counter = 0; |
robertbui | 40:bdd949fc3bc2 | 60 | |
robertbui | 40:bdd949fc3bc2 | 61 | } |
robertbui | 40:bdd949fc3bc2 | 62 | return returnParams; |
robertbui | 40:bdd949fc3bc2 | 63 | } |