control Stepper motor with gesture of hand using Arduino

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control Stepper motor with gesture of hand using Arduino

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");
    }
  }
}