Bài 100: Điều khiển động cơ Servo bằng cử chỉ tay của bạn

/*
 * Arduino Step by Step Course by Robojax 
 * Lesson 100: Control Servo Motor with your hand gesture 
 * Using hand gesture RIGHT, LEFT, UP, DOWN, FAR, NEAR we control the motor in any way we want
 * video details: https://youtu.be/BUSqppjNw-Y
 * Code written based on sample from this code https://github.com/sparkfun/APDS-9960_RGB_and_Gesture_Sensor
 * on February 13, 2022 by Ahmad Shamshiri.
 * 
 * This code is part of Arduino Step by Step Course which starts here:  https://youtu.be/-6qSrDUA5a8
 * 
 * for library of this code visit http://robojax.com/
 * 
If you found this tutorial helpful, please support me so I can continue creating 
content like this. Make a donation using PayPal by credit card https://bit.ly/donate-robojax
  
 * This code is "AS IS" without warranty or liability. Free to be used as long as you keep this note intact.* 
 * This code has been downloaded from Robojax.com
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.
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 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 above (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

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 <Servo.h>
#include <SparkFun_APDS9960.h>
//see details in this video: https://youtu.be/BUSqppjNw-Y
int servoPin  =9;
int downAngle =135;
int upAngle = 45;
int rightAngle = 0;
int leftAngle = 180;

int angleStep =2;
int angle =90; //initial Angle

const int minAngle = 0;
const int maxAngle = 180;
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() {
 myservo.attach(servoPin);  // 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");
        myservo.write(upAngle); 
        break;
      case DIR_DOWN:
        Serial.println("DOWN");
        myservo.write(downAngle);  
        break;
      case DIR_LEFT:
        Serial.println("LEFT");
        myservo.write(leftAngle);  
        break;
      case DIR_RIGHT:
        Serial.println("RIGHT");
        myservo.write(rightAngle);  
        break;
      case DIR_NEAR:
        Serial.println("NEAR");
        nearAction();
        break;
      case DIR_FAR:
        Serial.println("FAR");
        farAction();
        break;
      default:
        Serial.println("NONE");
    }
  }
}

void nearAction()
{

  for (angle = minAngle; angle <= maxAngle; angle += angleStep) { 
    // in steps of angleStep degree
    myservo.write(angle); 
    delay(15);                   
  }
  for (angle = maxAngle; angle >= minAngle; angle -= angleStep) { 
    myservo.write(angle);              
    delay(15);                      
  }  
}//nearAction() ends


 void farAction()
{

 //do something here
}//farAction() ends