APDS-9960 Gesture Sensor with Arduino

APDS-9960 Gesture Sensor with Arduino

The APDS-9960 gesture sensor allows for the detection of hand gestures such as swipes and proximity. In this tutorial, we will demonstrate how to connect the APDS-9960 to an Arduino and program it to recognize gestures. The outcome will be a simple setup that can detect movements and report them via the serial monitor. This guide will help you understand the wiring and code needed to get started with the gesture sensor. (in video at 00:30)

Hardware Explained

The APDS-9960 is a versatile sensor that combines RGB color sensing, ambient light sensing, proximity sensing, and gesture detection capabilities. It communicates with the Arduino via I2C, which allows for easy integration with minimal wiring. The sensor only operates at 3.3V, making it essential to ensure proper voltage levels to avoid damaging the device. In this build, we will use the Arduino to read gesture data. The sensor outputs gesture information through interrupts, which allows the Arduino to respond promptly to hand movements. The integration of the APDS-9960 with the Arduino opens up many possibilities for interactive projects, including gesture-controlled devices.

Datasheet Details

Manufacturer	Broadcom
Part number	APDS-9960
Logic/IO voltage	2.7 - 3.6 V
Supply voltage	3.3 V
Output current (per channel)	1 mA
Peak current (per channel)	10 mA
PWM frequency guidance	100 Hz
Input logic thresholds	0.3 x V_DD (low), 0.7 x V_DD (high)
Voltage drop / R_DS(on) / saturation	0.5 V max
Thermal limits	-40 to +85 °C
Package	6-pin LGA
Notes / variants	Supports I2C communication

Ensure the supply voltage does not exceed 3.6 V to prevent damage.
Use pull-up resistors on the I2C lines for reliable communication.
Keep the sensor away from direct sunlight for accurate readings.
Make sure to initialize the sensor correctly in the code.
Check the wiring connections to avoid floating inputs.

Wiring Instructions

Arduino wiring for APDS9960 Gesture sensor

To wire the APDS-9960 to the Arduino, start by connecting the power. Use a red wire to connect the VCC pin of the APDS-9960 to the 3.3V pin on the Arduino. Next, connect the GND pin on the sensor to a ground pin on the Arduino using a black wire. Now, for the I2C communication, connect the SDA pin of the APDS-9960 to the Arduino's A4 pin. Similarly, connect the SCL pin to the A5 pin on the Arduino. Lastly, connect the INT pin of the sensor to pin 2 on the Arduino. This will allow the Arduino to respond to interrupts generated by the sensor.

Code Examples & Walkthrough

The provided code initializes the APDS-9960 sensor and sets up the Arduino to read gestures. Here is a brief excerpt of the setup function:

void setup() {
  pinMode(APDS9960_INT, INPUT);
  Serial.begin(9600);
  attachInterrupt(0, interruptRoutine, FALLING);
  if ( apds.init() ) {
    Serial.println(F("APDS-9960 initialization complete"));
  }
}

In this snippet, we initialize the serial monitor and set the interrupt pin. The sensor is initialized, and a confirmation message is printed to the console. Next, we check for gestures in the loop function:

void loop() {
  if( isr_flag == 1 ) {
    detachInterrupt(0);
    handleGesture();
    isr_flag = 0;
    attachInterrupt(0, interruptRoutine, FALLING);
  }
}

Here, the loop continuously checks for gestures. When a gesture is detected, the interrupt is disabled, and the `handleGesture` function is called to process the gesture. Finally, the `handleGesture` function processes the detected gestures:

void handleGesture() {
  if ( apds.isGestureAvailable() ) {
    switch ( apds.readGesture() ) {
      case DIR_UP:
        Serial.println("UP");
        break;
      case DIR_DOWN:
        Serial.println("DOWN");
        break;
      // Additional cases...
    }
  }
}

In this function, the gesture is read, and the corresponding action is taken based on the detected direction. This allows for interactive control based on hand movements. For a complete understanding of the code, please refer to the full program loaded below the article.

Demonstration / What to Expect

When the setup is complete, you can expect the Arduino to read gestures and display the detected direction on the serial monitor. Simple tests include moving your hand up, down, left, or right in front of the sensor. If everything is wired correctly, you should see the corresponding output on the serial monitor, confirming the gesture recognition. Be cautious of floating inputs, as they can lead to inconsistent readings (in video at 05:20).

Video Timestamps

00:00 - Introduction
01:15 - Hardware Overview
03:00 - Wiring Instructions
04:30 - Code Walkthrough
06:15 - Demonstration

Images

APDS-9960 gesture sensor module -2

APDS-9960 gesture sensor module -1

APDS-9960 gesture sensor -3

Arduino wiring for APDS9960 Gesture sensor

1-Code for an APDS-9960 gesture sensor for Arduino

Language: C++

/*
 * Code for APDS-9960 Gesture sensor for Arduino
 * This code is to detect gestures of your hand, either moving it up, down, left, or right; other gestures.
 * can be detected and used to control something else.

 * Watch the APDS-9960 Gesture sensor video https://youtu.be/qzSgZV_fbxI
 * Get this code from https://robojax.com


 * Code used in video by Ahmad Shamshiri for Robojax.com
 * on December 31, 2016, at 6:53 AM in Ajax, Ontario, Canada
  * Permission granted to share this code, given that this
 * note is kept with the code.
 * Disclaimer: this code is "AS IS" and for educational purposes only.

GestureTest.ino
APDS-9960 RGB and Gesture Sensor
Shawn Hymel @ SparkFun Electronics
May 30, 2014
https://github.com/sparkfun/APDS-9960_RGB_and_Gesture_Sensor

Tests the gesture sensing abilities of the APDS-9960. Configures
APDS-9960 over I2C and waits for gesture events. Calculates the
direction of the swipe (up, down, left, right) and displays it
on a serial console. 

To perform a NEAR gesture, hold your hand
far above the sensor and move it close to the sensor (within 2
inches). Hold your hand there for at least 1 second and then move it
away.

To perform a FAR gesture, hold your hand within 2 inches of the
sensor for at least 1 second and then move it away (out of
range) of the sensor.

Hardware Connections:

IMPORTANT: The APDS-9960 can only accept 3.3V!
 
 Arduino Pin  APDS-9960 Board  Function
 
 3.3V         VCC              Power
 GND          GND              Ground
 A4           SDA              I2C Data
 A5           SCL              I2C Clock
 2            INT              Interrupt

Resources:
Include Wire.h and SparkFun_APDS-9960.h

Development environment specifics:
Written in Arduino 1.0.5
Tested with SparkFun Arduino Pro Mini 3.3V

This code is beerware; if you see me (or any other SparkFun 
employee) at the local, and you've found our code helpful, please
buy us a round!

Distributed as-is; no warranty is given.
***************************************************************
*/

#include <Wire.h>
#include <SparkFun_APDS9960.h>
Servo myservo;  // create servo object to control a servo

// Pins
#define APDS9960_INT    2 // Needs to be an interrupt pin

// Constants

// Global Variables
SparkFun_APDS9960 apds = SparkFun_APDS9960();
int isr_flag = 0;

void setup() {

  // 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);
    handleGesture();
    isr_flag = 0;
    attachInterrupt(0, interruptRoutine, FALLING);
  }
}

void interruptRoutine() {
  isr_flag = 1;
}

void handleGesture() {
    if ( apds.isGestureAvailable() ) {
    switch ( apds.readGesture() ) {
      case DIR_UP:
        Serial.println("UP");
        break;
      case DIR_DOWN:
        Serial.println("DOWN");
        break;
      case DIR_LEFT:
        Serial.println("LEFT");
        break;
      case DIR_RIGHT:
        Serial.println("RIGHT");
        break;
      case DIR_NEAR:
        Serial.println("NEAR");
        break;
      case DIR_FAR:
        Serial.println("FAR");
        break;
      default:
        Serial.println("NONE");
    }
  }
}

2-Source code for controlling a servo with your hand

Language: C++

/****************************************************************
Modified for RoboJax by A.B.S. on May 09, 2017
in Ajax, Ontario, Canada. www.RoboJax.com


Original Source:
APDS-9960 RGB and Gesture Sensor
Shawn Hymel @ SparkFun Electronics
May 30, 2014
https://github.com/sparkfun/APDS-9960_RGB_and_Gesture_Sensor


Distributed as-is; no warranty is given.
****************************************************************/

#include <Wire.h>

// added by RoboJax
#include <Servo.h>

#include <SparkFun_APDS9960.h>


Servo myservo;  // create servo object to control a servo // added by RoboJax

// Pins
#define APDS9960_INT    2 // Needs to be an interrupt pin

// Constants

// Global Variables
SparkFun_APDS9960 apds = SparkFun_APDS9960();
int isr_flag = 0;

void setup() {
 myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  // 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);
    handleGesture();
    isr_flag = 0;
    attachInterrupt(0, interruptRoutine, FALLING);
  }
}

void interruptRoutine() {
  isr_flag = 1;
}

void handleGesture() {
    if ( apds.isGestureAvailable() ) {
    switch ( apds.readGesture() ) {
      case DIR_UP:
        Serial.println("UP");
        break;
      case DIR_DOWN:
        Serial.println("DOWN");
        break;
      case DIR_LEFT:
        Serial.println("LEFT");
        myservo.write(180);  // added by RoboJax
        break;
      case DIR_RIGHT:
        Serial.println("RIGHT");
        myservo.write(0);   // added by RoboJax
        break;
      case DIR_NEAR:
        Serial.println("NEAR");
        break;
      case DIR_FAR:
        Serial.println("FAR");
        break;
      default:
        Serial.println("NONE");
    }
  }
}

Resources & references

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Files📁

Other files

APDS-9960 Gesture sensor Library
from Robojax.com

robojax-gesture-APDS9960-Library.zip 0.30 MB

APDS-9960 Gesture Sensor with Arduino