control Stepper motor with gesture of hand using Arduino Robojax.com

control Stepper motor with gesture of hand using Arduino

This video shows you how to control stepper motor with the gesture of your hand. Rotate it clockwise, counterclockwise, or stop it. Must watch this two videos 1-Stepper motor Watch Stepper motor 2-Gesture sensor Watch Gesture Control You will need to download the Gesture sensor library from GetHub here

Source code for controlling Servo with your hand


 //original source is http://www.geeetech.com/wiki/index.php/Stepper_Motor_5V_4-Phase_5-Wire_%26_ULN2003_Driver_Board_for_Arduino
//APDS-9960 RGB and Gesture Sensor
//Shawn Hymel @ SparkFun Electronics
//May 30, 2014
//https://github.com/sparkfun/APDS-9960_RGB_and_Gesture_Sensor
// This code is used with a video tutorial for RoboJax.com
// Published on May 11, 2017 from Aajx, ON, Canada.
/*
Must watch this two videos
1-Stepper motor
 https://www.youtube.com/watch?v=Sl2mzXfTwCs

2-Gesture sensor
https://www.youtube.com/watch?v=qzSgZV_fbxI

Download the code from:
http://roboJax.com/learn/arduino
*/
#include <Wire.h>
#include <SparkFun_APDS9960.h>


int Pin1 = 10; //motor control pin 1
int Pin2 = 11; //motor control pin 2
int Pin3 = 12; //motor control pin 3
int Pin4 = 13; //motor control pin 4
int _step = 0; 
boolean dir = false;// false=clockwise, true=counter clockwise
int count=0;
int action;// stop=1, CCW =2, CW=3

// Pins
#define APDS9960_INT    2 // Needs to be an interrupt pin
// Global Variables
SparkFun_APDS9960 apds = SparkFun_APDS9960();
int isr_flag = 0;

void setup() 
{ 
  //*************** stepper motor setup
 pinMode(Pin1, OUTPUT);  
 pinMode(Pin1, OUTPUT);  
 pinMode(Pin2, OUTPUT);  
 pinMode(Pin4, OUTPUT);  
 /// ************* stepper motor setup end 
   // Set interrupt pin as input
  pinMode(APDS9960_INT, INPUT);


  // Initialize Serial port
  Serial.begin(9600);
  Serial.println();
  Serial.println(F("--------------------------------"));
  Serial.println(F("SparkFun APDS-9960 - GestureTest"));
  Serial.println(F("--------------------------------"));
  
  // Initialize interrupt service routine
  attachInterrupt(0, interruptRoutine, FALLING);

  // Initialize APDS-9960 (configure I2C and initial values)
  if ( apds.init() ) {
    Serial.println(F("APDS-9960 initialization complete"));
  } else {
    Serial.println(F("Something went wrong during APDS-9960 init!"));
  }
  
  // Start running the APDS-9960 gesture sensor engine
  if ( apds.enableGestureSensor(true) ) {
    Serial.println(F("Gesture sensor is now running"));
  } else {
    Serial.println(F("Something went wrong during gesture sensor init!"));
  }  
} 
 void loop() 
{ 

  if( isr_flag == 1 ) {
   // detachInterrupt(0);
   action = handleGesture();
    isr_flag = 0;
   // attachInterrupt(0, interruptRoutine, FALLING);
  }  
  
  if(action ==1){
    _step =9;// stop the motor
  }else if(action ==2){
    //_step =0;
    dir = true;// CCW direction of rotation
  }else if(action ==3){
    //_step =0;//CW dirction of rotation
    dir = false;
  }

 switch(_step){ 
   case 0: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, HIGH); 
   break;  
   case 1: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, HIGH); 
     digitalWrite(Pin4, HIGH); 
   break;  
   case 2: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, HIGH); 
     digitalWrite(Pin4, LOW); 
   break;  
   case 3: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, HIGH); 
     digitalWrite(Pin3, HIGH); 
     digitalWrite(Pin4, LOW); 
   break;  
   case 4: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, HIGH); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, LOW); 
   break;  
   case 5: 
     digitalWrite(Pin1, HIGH);  
     digitalWrite(Pin2, HIGH); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, LOW); 
   break;  
     case 6: 
     digitalWrite(Pin1, HIGH);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, LOW); 
   break;  
   case 7: 
     digitalWrite(Pin1, HIGH);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, HIGH); 
   break;  
   default: 
     digitalWrite(Pin1, LOW);  
     digitalWrite(Pin2, LOW); 
     digitalWrite(Pin3, LOW); 
     digitalWrite(Pin4, LOW); 
   break;  
 } 
 if(dir){ 
   _step++; 
 }else{ 
   _step--; 
 } 
 if(_step>7){ 
   _step=0; 
 } 
 if(_step<0){ 
   _step=7; 
 } 
 delay(1); 

}// loop

void interruptRoutine() {
  isr_flag = 1;
}


int handleGesture() {
    if ( apds.isGestureAvailable() ) {
    switch ( apds.readGesture() ) {

      case DIR_DOWN:
        Serial.println("DOWN--Stop");
        return 1;
        break;
      case DIR_LEFT:
        Serial.println("LEFT-- Counterclockwise");
        return 2;
        break;
      case DIR_RIGHT:
        Serial.println("RIGHT--Clockwise");
        return 3;//
        break;

      default:
      return 1;// turn off
        Serial.println("NONE Stopped");
    }
  }
}