手势传感器PAJ7620U2

最近买了个手势传感器，可以直接通过GPIO口连接树莓派，测试了下用手势识别控制无人机。
视频见：https://www.bilibili.com/video/BV1hT4y1j7Wz

【无人机】手势传感器控制无人机飞行

识别手势：上、下、左、右、前、后、顺时针、逆时针、摇摆
识别距离：5-15cm
微雪资料

1.软件下载

程序

示例程序
BCM2835程序

文档

用户手册
原理图

调试程序

Arduino IDE
串口调试助手

2.准备工作

2.1 硬件

打开I2C接口
连线

2.2 软件库

sudo apt-get install python-pip
sudo pip install RPi.GPIO
sudo pip install spidev
sudo apt-get install python-pil
sudo apt-get install python-smbus
sudo apt-get install python-serial

3.Python例程

#!/usr/bin/python
# -*- coding:utf-8 -*-
import time
import smbus#i2c address
PAJ7620U2_I2C_ADDRESS   = 0x73
#Register Bank select
PAJ_BANK_SELECT         = 0xf0            #Bank0== 0x00,Bank1== 0x01
#Register Bank 0
PAJ_SUSPEND             = 0x03        #I2C suspend command (Write = 0x01 to enter suspend state). I2C wake-up command is slave ID wake-up. Refer to topic “I2C Bus Timing Characteristics and Protocol”
PAJ_INT_FLAG1_MASK      = 0x41        #Gesture detection interrupt flag mask
PAJ_INT_FLAG2_MASK      = 0x42        #Gesture/PS detection interrupt flag mask
PAJ_INT_FLAG1           = 0x43        #Gesture detection interrupt flag
PAJ_INT_FLAG2           = 0x44        #Gesture/PS detection interrupt flag
PAJ_STATE               = 0x45        #State indicator for gesture detection (Only functional at gesture detection mode)
PAJ_PS_HIGH_THRESHOLD   = 0x69        #PS hysteresis high threshold (Only functional at proximity detection mode)
PAJ_PS_LOW_THRESHOLD    = 0x6A        #PS hysteresis low threshold (Only functional at proximity detection mode)
PAJ_PS_APPROACH_STATE   = 0x6B        #PS approach state,  Approach = 1 , (8 bits PS data >= PS high threshold),  Not Approach = 0 , (8 bits PS data <= PS low threshold)(Only functional at proximity detection mode)
PAJ_PS_DATA             = 0x6C        #PS 8 bit data(Only functional at gesture detection mode)
PAJ_OBJ_BRIGHTNESS      = 0xB0        #Object Brightness (Max. 255)
PAJ_OBJ_SIZE_L          = 0xB1        #Object Size(Low 8 bit)
PAJ_OBJ_SIZE_H          = 0xB2        #Object Size(High 8 bit)
#Register Bank 1
PAJ_PS_GAIN             = 0x44        #PS gain setting (Only functional at proximity detection mode)
PAJ_IDLE_S1_STEP_L      = 0x67        #IDLE S1 Step, for setting the S1, Response Factor(Low 8 bit)
PAJ_IDLE_S1_STEP_H      = 0x68        #IDLE S1 Step, for setting the S1, Response Factor(High 8 bit)
PAJ_IDLE_S2_STEP_L      = 0x69        #IDLE S2 Step, for setting the S2, Response Factor(Low 8 bit)
PAJ_IDLE_S2_STEP_H      = 0x6A        #IDLE S2 Step, for setting the S2, Response Factor(High 8 bit)
PAJ_OPTOS1_TIME_L       = 0x6B        #OPtoS1 Step, for setting the OPtoS1 time of operation state to standby 1 state(Low 8 bit)
PAJ_OPTOS2_TIME_H       = 0x6C        #OPtoS1 Step, for setting the OPtoS1 time of operation state to standby 1 stateHigh 8 bit)
PAJ_S1TOS2_TIME_L       = 0x6D        #S1toS2 Step, for setting the S1toS2 time of standby 1 state to standby 2 state(Low 8 bit)
PAJ_S1TOS2_TIME_H       = 0x6E        #S1toS2 Step, for setting the S1toS2 time of standby 1 state to standby 2 stateHigh 8 bit)
PAJ_EN                  = 0x72        #Enable/Disable PAJ7620U2
#Gesture detection interrupt flag
PAJ_UP                  = 0x01
PAJ_DOWN                = 0x02
PAJ_LEFT                = 0x04
PAJ_RIGHT               = 0x08
PAJ_FORWARD             = 0x10
PAJ_BACKWARD            = 0x20
PAJ_CLOCKWISE           = 0x40
PAJ_COUNT_CLOCKWISE     = 0x80
PAJ_WAVE                = 0x100
#Power up initialize array
Init_Register_Array = ((0xEF,0x00),(0x37,0x07),(0x38,0x17),(0x39,0x06),(0x41,0x00),(0x42,0x00),(0x46,0x2D),(0x47,0x0F),(0x48,0x3C),(0x49,0x00),(0x4A,0x1E),(0x4C,0x20),(0x51,0x10),(0x5E,0x10),(0x60,0x27),(0x80,0x42),(0x81,0x44),(0x82,0x04),(0x8B,0x01),(0x90,0x06),(0x95,0x0A),(0x96,0x0C),(0x97,0x05),(0x9A,0x14),(0x9C,0x3F),(0xA5,0x19),(0xCC,0x19),(0xCD,0x0B),(0xCE,0x13),(0xCF,0x64),(0xD0,0x21),(0xEF,0x01),(0x02,0x0F),(0x03,0x10),(0x04,0x02),(0x25,0x01),(0x27,0x39),(0x28,0x7F),(0x29,0x08),(0x3E,0xFF),(0x5E,0x3D),(0x65,0x96),(0x67,0x97),(0x69,0xCD),(0x6A,0x01),(0x6D,0x2C),(0x6E,0x01),(0x72,0x01),(0x73,0x35),(0x74,0x00),(0x77,0x01),
)
#Approaches register initialization array
Init_PS_Array = ((0xEF,0x00),(0x41,0x00),(0x42,0x00),(0x48,0x3C),(0x49,0x00),(0x51,0x13),(0x83,0x20),(0x84,0x20),(0x85,0x00),(0x86,0x10),(0x87,0x00),(0x88,0x05),(0x89,0x18),(0x8A,0x10),(0x9f,0xf8),(0x69,0x96),(0x6A,0x02),(0xEF,0x01),(0x01,0x1E),(0x02,0x0F),(0x03,0x10),(0x04,0x02),(0x41,0x50),(0x43,0x34),(0x65,0xCE),(0x66,0x0B),(0x67,0xCE),(0x68,0x0B),(0x69,0xE9),(0x6A,0x05),(0x6B,0x50),(0x6C,0xC3),(0x6D,0x50),(0x6E,0xC3),(0x74,0x05),
)
#Gesture register initializes array
Init_Gesture_Array = ((0xEF,0x00),(0x41,0x00),(0x42,0x00),(0xEF,0x00),(0x48,0x3C),(0x49,0x00),(0x51,0x10),(0x83,0x20),(0x9F,0xF9),(0xEF,0x01),(0x01,0x1E),(0x02,0x0F),(0x03,0x10),(0x04,0x02),(0x41,0x40),(0x43,0x30),(0x65,0x96),(0x66,0x00),(0x67,0x97),(0x68,0x01),(0x69,0xCD),(0x6A,0x01),(0x6B,0xB0),(0x6C,0x04),(0x6D,0x2C),(0x6E,0x01),(0x74,0x00),(0xEF,0x00),(0x41,0xFF),(0x42,0x01),
)
class PAJ7620U2(object):def __init__(self,address=PAJ7620U2_I2C_ADDRESS):self._address = addressself._bus = smbus.SMBus(1)time.sleep(0.5)if self._read_byte(0x00) == 0x20:print("\nGesture Sensor OK\n")for num in range(len(Init_Register_Array)):self._write_byte(Init_Register_Array[num][0],Init_Register_Array[num][1])else:print("\nGesture Sensor Error\n")self._write_byte(PAJ_BANK_SELECT, 0)for num in range(len(Init_Gesture_Array)):self._write_byte(Init_Gesture_Array[num][0],Init_Gesture_Array[num][1])def _read_byte(self,cmd):return self._bus.read_byte_data(self._address,cmd)def _read_u16(self,cmd):LSB = self._bus.read_byte_data(self._address,cmd)MSB = self._bus.read_byte_data(self._address,cmd+1)return (MSB << 8) + LSBdef _write_byte(self,cmd,val):self._bus.write_byte_data(self._address,cmd,val)def check_gesture(self):Gesture_Data=self._read_u16(PAJ_INT_FLAG1)if Gesture_Data == PAJ_UP:print("Up\r\n")elif Gesture_Data == PAJ_DOWN:print("Down\r\n")elif Gesture_Data == PAJ_LEFT:print("Left\r\n")    elif Gesture_Data == PAJ_RIGHT:print("Right\r\n")  elif Gesture_Data == PAJ_FORWARD:print("Forward\r\n")  elif Gesture_Data == PAJ_BACKWARD:print("Backward\r\n")elif Gesture_Data == PAJ_CLOCKWISE:print("Clockwise\r\n")  elif Gesture_Data == PAJ_COUNT_CLOCKWISE:print("AntiClockwise\r\n")    elif Gesture_Data == PAJ_WAVE:print("Wave\r\n")    return Gesture_Dataif __name__ == '__main__':import timeprint("\nGesture Sensor Test Program ...\n")paj7620u2=PAJ7620U2()while True:time.sleep(0.05)paj7620u2.check_gesture()

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【8-13】手势传感器PAJ7620U2测试实现手势控制无人机

手势传感器PAJ7620U2

1.软件下载

程序

文档

调试程序

2.准备工作

2.1 硬件

2.2 软件库

3.Python例程

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【8-13】手势传感器PAJ7620U2测试 实现手势控制无人机

手势传感器PAJ7620U2

1.软件下载

程序

文档

调试程序

2.准备工作

2.1 硬件

2.2 软件库

3.Python例程

【8-13】手势传感器PAJ7620U2测试 实现手势控制无人机相关推荐

最新文章

热门文章

【8-13】手势传感器PAJ7620U2测试实现手势控制无人机

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