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ocoge/lib/gesture.py

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2020-01-21 07:10:10 +00:00
#!/usr/bin/env python
#
# GrovePi Library for using the Grove - Gesture Sensor v1.0(http://www.seeedstudio.com/depot/Grove-Gesture-p-2463.html)
#
# The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi
#
# Have a question about this library? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi
#
# History
# ------------------------------------------------
# Author Date Comments
# Karan 31 Dec 15 Initial Authoring
#
# Code derived from the basic Arduino library for the Gesture Sensor by Seeed: https://github.com/Seeed-Studio/Gesture_PAJ7620
# Released under the MIT license (http://choosealicense.com/licenses/mit/).
# For more information see https://github.com/DexterInd/GrovePi/blob/master/LICENSE
import time,sys
import RPi.GPIO as GPIO
import smbus
# use the bus that matches your raspi version
rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
bus = smbus.SMBus(1)
else:
bus = smbus.SMBus(0)
class gesture:
#Registers and variables for the gesture sensor
GES_REACTION_TIME =.500 # You can adjust the reaction time according to the actual circumstance.
GES_ENTRY_TIME =.800 # When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than GES_ENTRY_TIME(0.8s).
GES_QUIT_TIME =1.000
BANK0 = 0
BANK1 = 1
PAJ7620_ADDR_BASE =0x00
#REGISTER BANK SELECT
PAJ7620_REGITER_BANK_SEL =(PAJ7620_ADDR_BASE + 0xEF) #W
#DEVICE ID
PAJ7620_ID =0x73
#REGISTER BANK 0
PAJ7620_ADDR_SUSPEND_CMD =(PAJ7620_ADDR_BASE + 0x3) #W
PAJ7620_ADDR_GES_PS_DET_MASK_0 =(PAJ7620_ADDR_BASE + 0x41) #RW
PAJ7620_ADDR_GES_PS_DET_MASK_1 =(PAJ7620_ADDR_BASE + 0x42) #RW
PAJ7620_ADDR_GES_PS_DET_FLAG_0 =(PAJ7620_ADDR_BASE + 0x43) #R
PAJ7620_ADDR_GES_PS_DET_FLAG_1 =(PAJ7620_ADDR_BASE + 0x44) #R
PAJ7620_ADDR_STATE_INDICATOR =(PAJ7620_ADDR_BASE + 0x45) #R
PAJ7620_ADDR_PS_HIGH_THRESHOLD =(PAJ7620_ADDR_BASE + 0x69) #RW
PAJ7620_ADDR_PS_LOW_THRESHOLD =(PAJ7620_ADDR_BASE + 0x6A) #RW
PAJ7620_ADDR_PS_APPROACH_STATE =(PAJ7620_ADDR_BASE + 0x6B) #R
PAJ7620_ADDR_PS_RAW_DATA =(PAJ7620_ADDR_BASE + 0x6C) #R
#REGISTER BANK 1
PAJ7620_ADDR_PS_GAIN =(PAJ7620_ADDR_BASE + 0x44) #RW
PAJ7620_ADDR_IDLE_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x67) #RW
PAJ7620_ADDR_IDLE_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x68) #RW
PAJ7620_ADDR_IDLE_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x69) #RW
PAJ7620_ADDR_IDLE_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6A) #RW
PAJ7620_ADDR_OP_TO_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x6B) #RW
PAJ7620_ADDR_OP_TO_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x6C) #RW
PAJ7620_ADDR_OP_TO_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x6D) #RW
PAJ7620_ADDR_OP_TO_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6E) #RW
PAJ7620_ADDR_OPERATION_ENABLE =(PAJ7620_ADDR_BASE + 0x72) #RW
#PAJ7620_REGITER_BANK_SEL
PAJ7620_BANK0=0
PAJ7620_BANK1=1
#PAJ7620_ADDR_SUSPEND_CMD
PAJ7620_I2C_WAKEUP =1
PAJ7620_I2C_SUSPEND =0
#PAJ7620_ADDR_OPERATION_ENABLE
PAJ7620_ENABLE=1
PAJ7620_DISABLE=0
#ADC, delete
REG_ADDR_RESULT = 0x00
REG_ADDR_ALERT = 0x01
REG_ADDR_CONFIG = 0x02
REG_ADDR_LIMITL = 0x03
REG_ADDR_LIMITH = 0x04
REG_ADDR_HYST = 0x05
REG_ADDR_CONVL = 0x06
REG_ADDR_CONVH = 0x07
GES_RIGHT_FLAG =1<<0
GES_LEFT_FLAG =1<<1
GES_UP_FLAG =1<<2
GES_DOWN_FLAG =1<<3
GES_FORWARD_FLAG =1<<4
GES_BACKWARD_FLAG =1<<5
GES_CLOCKWISE_FLAG =1<<6
GES_COUNT_CLOCKWISE_FLAG =1<<7
GES_WAVE_FLAG =1<<0
#Gesture output
FORWARD = 1
BACKWARD = 2
RIGHT = 3
LEFT = 4
UP = 5
DOWN = 6
CLOCKWISE = 7
ANTI_CLOCKWISE = 8
WAVE = 9
#Initial register state
initRegisterArray=( [0xEF,0x00],
[0x32,0x29],
[0x33,0x01],
[0x34,0x00],
[0x35,0x01],
[0x36,0x00],
[0x37,0x07],
[0x38,0x17],
[0x39,0x06],
[0x3A,0x12],
[0x3F,0x00],
[0x40,0x02],
[0x41,0xFF],
[0x42,0x01],
[0x46,0x2D],
[0x47,0x0F],
[0x48,0x3C],
[0x49,0x00],
[0x4A,0x1E],
[0x4B,0x00],
[0x4C,0x20],
[0x4D,0x00],
[0x4E,0x1A],
[0x4F,0x14],
[0x50,0x00],
[0x51,0x10],
[0x52,0x00],
[0x5C,0x02],
[0x5D,0x00],
[0x5E,0x10],
[0x5F,0x3F],
[0x60,0x27],
[0x61,0x28],
[0x62,0x00],
[0x63,0x03],
[0x64,0xF7],
[0x65,0x03],
[0x66,0xD9],
[0x67,0x03],
[0x68,0x01],
[0x69,0xC8],
[0x6A,0x40],
[0x6D,0x04],
[0x6E,0x00],
[0x6F,0x00],
[0x70,0x80],
[0x71,0x00],
[0x72,0x00],
[0x73,0x00],
[0x74,0xF0],
[0x75,0x00],
[0x80,0x42],
[0x81,0x44],
[0x82,0x04],
[0x83,0x20],
[0x84,0x20],
[0x85,0x00],
[0x86,0x10],
[0x87,0x00],
[0x88,0x05],
[0x89,0x18],
[0x8A,0x10],
[0x8B,0x01],
[0x8C,0x37],
[0x8D,0x00],
[0x8E,0xF0],
[0x8F,0x81],
[0x90,0x06],
[0x91,0x06],
[0x92,0x1E],
[0x93,0x0D],
[0x94,0x0A],
[0x95,0x0A],
[0x96,0x0C],
[0x97,0x05],
[0x98,0x0A],
[0x99,0x41],
[0x9A,0x14],
[0x9B,0x0A],
[0x9C,0x3F],
[0x9D,0x33],
[0x9E,0xAE],
[0x9F,0xF9],
[0xA0,0x48],
[0xA1,0x13],
[0xA2,0x10],
[0xA3,0x08],
[0xA4,0x30],
[0xA5,0x19],
[0xA6,0x10],
[0xA7,0x08],
[0xA8,0x24],
[0xA9,0x04],
[0xAA,0x1E],
[0xAB,0x1E],
[0xCC,0x19],
[0xCD,0x0B],
[0xCE,0x13],
[0xCF,0x64],
[0xD0,0x21],
[0xD1,0x0F],
[0xD2,0x88],
[0xE0,0x01],
[0xE1,0x04],
[0xE2,0x41],
[0xE3,0xD6],
[0xE4,0x00],
[0xE5,0x0C],
[0xE6,0x0A],
[0xE7,0x00],
[0xE8,0x00],
[0xE9,0x00],
[0xEE,0x07],
[0xEF,0x01],
[0x00,0x1E],
[0x01,0x1E],
[0x02,0x0F],
[0x03,0x10],
[0x04,0x02],
[0x05,0x00],
[0x06,0xB0],
[0x07,0x04],
[0x08,0x0D],
[0x09,0x0E],
[0x0A,0x9C],
[0x0B,0x04],
[0x0C,0x05],
[0x0D,0x0F],
[0x0E,0x02],
[0x0F,0x12],
[0x10,0x02],
[0x11,0x02],
[0x12,0x00],
[0x13,0x01],
[0x14,0x05],
[0x15,0x07],
[0x16,0x05],
[0x17,0x07],
[0x18,0x01],
[0x19,0x04],
[0x1A,0x05],
[0x1B,0x0C],
[0x1C,0x2A],
[0x1D,0x01],
[0x1E,0x00],
[0x21,0x00],
[0x22,0x00],
[0x23,0x00],
[0x25,0x01],
[0x26,0x00],
[0x27,0x39],
[0x28,0x7F],
[0x29,0x08],
[0x30,0x03],
[0x31,0x00],
[0x32,0x1A],
[0x33,0x1A],
[0x34,0x07],
[0x35,0x07],
[0x36,0x01],
[0x37,0xFF],
[0x38,0x36],
[0x39,0x07],
[0x3A,0x00],
[0x3E,0xFF],
[0x3F,0x00],
[0x40,0x77],
[0x41,0x40],
[0x42,0x00],
[0x43,0x30],
[0x44,0xA0],
[0x45,0x5C],
[0x46,0x00],
[0x47,0x00],
[0x48,0x58],
[0x4A,0x1E],
[0x4B,0x1E],
[0x4C,0x00],
[0x4D,0x00],
[0x4E,0xA0],
[0x4F,0x80],
[0x50,0x00],
[0x51,0x00],
[0x52,0x00],
[0x53,0x00],
[0x54,0x00],
[0x57,0x80],
[0x59,0x10],
[0x5A,0x08],
[0x5B,0x94],
[0x5C,0xE8],
[0x5D,0x08],
[0x5E,0x3D],
[0x5F,0x99],
[0x60,0x45],
[0x61,0x40],
[0x63,0x2D],
[0x64,0x02],
[0x65,0x96],
[0x66,0x00],
[0x67,0x97],
[0x68,0x01],
[0x69,0xCD],
[0x6A,0x01],
[0x6B,0xB0],
[0x6C,0x04],
[0x6D,0x2C],
[0x6E,0x01],
[0x6F,0x32],
[0x71,0x00],
[0x72,0x01],
[0x73,0x35],
[0x74,0x00],
[0x75,0x33],
[0x76,0x31],
[0x77,0x01],
[0x7C,0x84],
[0x7D,0x03],
[0x7E,0x01])
#Enable debug message
debug=0
#Initialize the sensors
def init(self):
time.sleep(.001)
self.paj7620SelectBank(self.BANK0)
self.paj7620SelectBank(self.BANK0)
data0 = self.paj7620ReadReg(0, 1)[0]
data1 = self.paj7620ReadReg(1, 1)[0]
if self.debug:
print("data0:",data0,"data1:",data1, flush=True, end="")
if data0 != 0x20 :#or data1 <> 0x76:
print("Error with sensor", flush=True, end="")
#return 0xff
if data0 == 0x20:
print("wake-up finish.", flush=True, end="")
for i in range(len(self.initRegisterArray)):
self.paj7620WriteReg(self.initRegisterArray[i][0],self.initRegisterArray[i][1])
self.paj7620SelectBank(self.BANK0)
print("Paj7620 initialize register finished.", flush=True, end="")
#Write a byte to a register on the Gesture sensor
def paj7620WriteReg(self,addr,cmd):
bus.write_word_data(self.PAJ7620_ID, addr, cmd)
#Select a register bank on the Gesture Sensor
def paj7620SelectBank(self,bank):
if bank==self.BANK0:
self.paj7620WriteReg(self.PAJ7620_REGITER_BANK_SEL, self.PAJ7620_BANK0)
#Read a block of bytes of length "qty" starting at address "addr" from the Gesture sensor
def paj7620ReadReg(self,addr,qty):
return bus.read_i2c_block_data(self.PAJ7620_ID, addr,qty)
#Print the values from the gesture sensor
def print_gesture(self):
data=self.paj7620ReadReg(0x43,1)[0]
if data==self.GES_RIGHT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("1", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("2", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
else:
print("3", flush=True, end="")
elif data==self.GES_LEFT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("1", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("2", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
else:
print("4", flush=True, end="")
elif data==self.GES_UP_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("1", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("2", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
else:
print("5", flush=True, end="")
elif data==self.GES_DOWN_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
print("1", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
print("2", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
else:
print("6", flush=True, end="")
elif data==self.GES_FORWARD_FLAG:
print("1", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_BACKWARD_FLAG:
print("2", flush=True, end="")
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_CLOCKWISE_FLAG:
print("7", flush=True, end="")
elif data==self.GES_COUNT_CLOCKWISE_FLAG:
print("8", flush=True, end="")
else:
data1=self.paj7620ReadReg(0x44, 1)[0]
if (data1 == self.GES_WAVE_FLAG):
print("9", flush=True, end="")
#Return a vlaue from the gestire sensor which can be used in a program
# 0:nothing
# 1:Forward
# 2:Backward
# 3:Right
# 4:Left
# 5:Up
# 6:Down
# 7:Clockwise
# 8:anti-clockwise
# 9:wave
def return_gesture(self):
data=self.paj7620ReadReg(0x43,1)[0]
if data==self.GES_RIGHT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 3
elif data==self.GES_LEFT_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 4
elif data==self.GES_UP_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 5
elif data==self.GES_DOWN_FLAG:
time.sleep(self.GES_ENTRY_TIME)
data=self.paj7620ReadReg(0x43, 1)[0]
if data == self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data == self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
else:
return 6
elif data==self.GES_FORWARD_FLAG:
return 1
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_BACKWARD_FLAG:
return 2
time.sleep(self.GES_QUIT_TIME)
elif data==self.GES_CLOCKWISE_FLAG:
return 7
elif data==self.GES_COUNT_CLOCKWISE_FLAG:
return 8
else:
data1=self.paj7620ReadReg(0x44, 1)[0]
if (data1 == self.GES_WAVE_FLAG):
return 9
return 0
if __name__ == "__main__":
g=gesture()
g.init()
while True:
g.print_gesture()
time.sleep(.1)
# print g.return_gesture()
# time.sleep(.1)
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