【8-13】手势传感器PAJ7620U2测试实现手势控制无人机

最新推荐文章于 2024-07-26 14:45:23 发布

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最新推荐文章于 2024-07-26 14:45:23 发布

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分类专栏：无人机 Python

本文链接：https://blog.csdn.net/fcts1230/article/details/107989604

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本文介绍了如何使用手势传感器PAJ7620U2进行手势识别，通过GPIO口连接树莓派实现对无人机的控制。详细内容包括手势传感器的软件下载、准备工作如硬件连接和软件库的准备，以及提供了Python例程。

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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

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