Things used in this project

Hardware components:
Phpoc blue per 100x1000 euk22wtv9i
PHPoC Blue
×1
SeeedStudio Grove Gesture Sensor
I used PAJ7620 gesture sensor.
×1
Pan-Tilt Kit
×1
Grove board cpdgvu5jko
PHPoC Grove Expansion Board
×1
Pwm sensor board egzopqmg5u
PHPoC PWM & Sensor Expansion Board
×1
Battery Holder
I used battery to supply external voltage source for Pan-Tilt motors (6V)
×1

Code

gesture_PAJ7620.phpPHP
<?php


include_once "/lib/sd_340.php";

// PHPoC I2C ID
define ("I2C_ID",	0);

// Define command value for exchanging data with PHPoC
define("CMD_LEFT", 1);
define("CMD_RIGHT", 2);
define("CMD_DOWN", 3);
define("CMD_UP", 4);


define ("PAJ7620_ADDR_BASE",	0x00);
define ("PAJ7620_REGITER_BANK_SEL",	(PAJ7620_ADDR_BASE + 0xEF));	

// Device ID
define ("PAJ7620_ID",  0x73);

// Register bank 0
define ("PAJ7620_ADDR_SUSPEND_CMD",			(PAJ7620_ADDR_BASE + 0x3));	
define ("PAJ7620_ADDR_GES_PS_DET_MASK_0",	(PAJ7620_ADDR_BASE + 0x41));	
define ("PAJ7620_ADDR_GES_PS_DET_MASK_1",	(PAJ7620_ADDR_BASE + 0x42));	
define ("PAJ7620_ADDR_GES_PS_DET_FLAG_0",	(PAJ7620_ADDR_BASE + 0x43));	
define ("PAJ7620_ADDR_GES_PS_DET_FLAG_1",	(PAJ7620_ADDR_BASE + 0x44));	
define ("PAJ7620_ADDR_STATE_INDICATOR",		(PAJ7620_ADDR_BASE + 0x45));	
define ("PAJ7620_ADDR_PS_HIGH_THRESHOLD",	(PAJ7620_ADDR_BASE + 0x69));
define ("PAJ7620_ADDR_PS_LOW_THRESHOLD",	(PAJ7620_ADDR_BASE + 0x6A));	
define ("PAJ7620_ADDR_PS_APPROACH_STATE",	(PAJ7620_ADDR_BASE + 0x6B));
define ("PAJ7620_ADDR_PS_RAW_DATA",			(PAJ7620_ADDR_BASE + 0x6C));

// Register bank 1
define ("PAJ7620_ADDR_PS_GAIN",					(PAJ7620_ADDR_BASE + 0x44));
define ("PAJ7620_ADDR_IDLE_S1_STEP_0",		(PAJ7620_ADDR_BASE + 0x67));	
define ("PAJ7620_ADDR_IDLE_S1_STEP_1",		(PAJ7620_ADDR_BASE + 0x68));	
define ("PAJ7620_ADDR_IDLE_S2_STEP_0",		(PAJ7620_ADDR_BASE + 0x69));	
define ("PAJ7620_ADDR_IDLE_S2_STEP_1",		(PAJ7620_ADDR_BASE + 0x6A));	
define ("PAJ7620_ADDR_OP_TO_S1_STEP_0",		(PAJ7620_ADDR_BASE + 0x6B));	
define ("PAJ7620_ADDR_OP_TO_S1_STEP_1",		(PAJ7620_ADDR_BASE + 0x6C));	
define ("PAJ7620_ADDR_OP_TO_S2_STEP_0",		(PAJ7620_ADDR_BASE + 0x6D));	
define ("PAJ7620_ADDR_OP_TO_S2_STEP_1",		(PAJ7620_ADDR_BASE + 0x6E));
define ("PAJ7620_ADDR_OPERATION_ENABLE",	(PAJ7620_ADDR_BASE + 0x72));	


define ("PAJ7620_BANK0",	0x00);
define ("PAJ7620_BANK1",	0x01);


define ("PAJ7620_I2C_WAKEUP",	0x01);
define ("PAJ7620_I2C_SUSPEND",	0x00);


define ("PAJ7620_ENABLE",		0x01);
define ("PAJ7620_DISABLE",		0x00);


define ("GES_RIGHT_FLAG",			0x01);
define ("GES_LEFT_FLAG",			0x02);
define ("GES_UP_FLAG",				0x04);
define ("GES_DOWN_FLAG",			0x08);
define ("GES_FORWARD_FLAG",			0x10);
define ("GES_BACKWARD_FLAG",		0x20);
define ("GES_CLOCKWISE_FLAG",		0x40);
define ("GES_COUNT_CLOCKWISE_FLAG",	0x80);
define ("GES_WAVE_FLAG",			0x01);

define ("BANK0",	0);
define ("BANK1",	1);

define ("GES_REACTION_TIME",	500);			
define ("GES_ENTRY_TIME",		800);	
define ("GES_QUIT_TIME",		1000);

function paj7620_write_reg($addr, $cmd)
{
	i2c_write(I2C_ID, ($addr&0xFF)|(($cmd&0xFF)<<8),2);
}

function init_register()
{
	paj7620_write_reg(0xEF,0x00);
	paj7620_write_reg(0x32,0x29);
	paj7620_write_reg(0x33,0x01);
	paj7620_write_reg(0x34,0x00);
	paj7620_write_reg(0x35,0x01);
	paj7620_write_reg(0x36,0x00);
	paj7620_write_reg(0x37,0x07);
	paj7620_write_reg(0x38,0x17);
	paj7620_write_reg(0x39,0x06);
	paj7620_write_reg(0x3A,0x12);
	paj7620_write_reg(0x3F,0x00);
	paj7620_write_reg(0x40,0x02);
	paj7620_write_reg(0x41,0xFF);
	paj7620_write_reg(0x42,0x01);
	paj7620_write_reg(0x46,0x2D);
	paj7620_write_reg(0x47,0x0F);
	paj7620_write_reg(0x48,0x3C);
	paj7620_write_reg(0x49,0x00);
	paj7620_write_reg(0x4A,0x1E);
	paj7620_write_reg(0x4B,0x00);
	paj7620_write_reg(0x4C,0x20);
	paj7620_write_reg(0x4D,0x00);
	paj7620_write_reg(0x4E,0x1A);
	paj7620_write_reg(0x4F,0x14);
	paj7620_write_reg(0x50,0x00);
	paj7620_write_reg(0x51,0x10);
	paj7620_write_reg(0x52,0x00);
	paj7620_write_reg(0x5C,0x02);
	paj7620_write_reg(0x5D,0x00);
	paj7620_write_reg(0x5E,0x10);
	paj7620_write_reg(0x5F,0x3F);
	paj7620_write_reg(0x60,0x27);
	paj7620_write_reg(0x61,0x28);
	paj7620_write_reg(0x62,0x00);
	paj7620_write_reg(0x63,0x03);
	paj7620_write_reg(0x64,0xF7);
	paj7620_write_reg(0x65,0x03);
	paj7620_write_reg(0x66,0xD9);
	paj7620_write_reg(0x67,0x03);
	paj7620_write_reg(0x68,0x01);
	paj7620_write_reg(0x69,0xC8);
	paj7620_write_reg(0x6A,0x40);
	paj7620_write_reg(0x6D,0x04);
	paj7620_write_reg(0x6E,0x00);
	paj7620_write_reg(0x6F,0x00);
	paj7620_write_reg(0x70,0x80);
	paj7620_write_reg(0x71,0x00);
	paj7620_write_reg(0x72,0x00);
	paj7620_write_reg(0x73,0x00);
	paj7620_write_reg(0x74,0xF0);
	paj7620_write_reg(0x75,0x00);
	paj7620_write_reg(0x80,0x42);
	paj7620_write_reg(0x81,0x44);
	paj7620_write_reg(0x82,0x04);
	paj7620_write_reg(0x83,0x20);
	paj7620_write_reg(0x84,0x20);
	paj7620_write_reg(0x85,0x00);
	paj7620_write_reg(0x86,0x10);
	paj7620_write_reg(0x87,0x00);
	paj7620_write_reg(0x88,0x05);
	paj7620_write_reg(0x89,0x18);
	paj7620_write_reg(0x8A,0x10);
	paj7620_write_reg(0x8B,0x01);
	paj7620_write_reg(0x8C,0x37);
	paj7620_write_reg(0x8D,0x00);
	paj7620_write_reg(0x8E,0xF0);
	paj7620_write_reg(0x8F,0x81);
	paj7620_write_reg(0x90,0x06);
	paj7620_write_reg(0x91,0x06);
	paj7620_write_reg(0x92,0x1E);
	paj7620_write_reg(0x93,0x0D);
	paj7620_write_reg(0x94,0x0A);
	paj7620_write_reg(0x95,0x0A);
	paj7620_write_reg(0x96,0x0C);
	paj7620_write_reg(0x97,0x05);
	paj7620_write_reg(0x98,0x0A);
	paj7620_write_reg(0x99,0x41);
	paj7620_write_reg(0x9A,0x14);
	paj7620_write_reg(0x9B,0x0A);
	paj7620_write_reg(0x9C,0x3F);
	paj7620_write_reg(0x9D,0x33);
	paj7620_write_reg(0x9E,0xAE);
	paj7620_write_reg(0x9F,0xF9);
	paj7620_write_reg(0xA0,0x48);
	paj7620_write_reg(0xA1,0x13);
	paj7620_write_reg(0xA2,0x10);
	paj7620_write_reg(0xA3,0x08);
	paj7620_write_reg(0xA4,0x30);
	paj7620_write_reg(0xA5,0x19);
	paj7620_write_reg(0xA6,0x10);
	paj7620_write_reg(0xA7,0x08);
	paj7620_write_reg(0xA8,0x24);
	paj7620_write_reg(0xA9,0x04);
	paj7620_write_reg(0xAA,0x1E);
	paj7620_write_reg(0xAB,0x1E);
	paj7620_write_reg(0xCC,0x19);
	paj7620_write_reg(0xCD,0x0B);
	paj7620_write_reg(0xCE,0x13);
	paj7620_write_reg(0xCF,0x64);
	paj7620_write_reg(0xD0,0x21);
	paj7620_write_reg(0xD1,0x0F);
	paj7620_write_reg(0xD2,0x88);
	paj7620_write_reg(0xE0,0x01);
	paj7620_write_reg(0xE1,0x04);
	paj7620_write_reg(0xE2,0x41);
	paj7620_write_reg(0xE3,0xD6);
	paj7620_write_reg(0xE4,0x00);
	paj7620_write_reg(0xE5,0x0C);
	paj7620_write_reg(0xE6,0x0A);
	paj7620_write_reg(0xE7,0x00);
	paj7620_write_reg(0xE8,0x00);
	paj7620_write_reg(0xE9,0x00);
	paj7620_write_reg(0xEE,0x07);
	paj7620_write_reg(0xEF,0x01);
	paj7620_write_reg(0x00,0x1E);
	paj7620_write_reg(0x01,0x1E);
	paj7620_write_reg(0x02,0x0F);
	paj7620_write_reg(0x03,0x10);
	paj7620_write_reg(0x04,0x02);
	paj7620_write_reg(0x05,0x00);
	paj7620_write_reg(0x06,0xB0);
	paj7620_write_reg(0x07,0x04);
	paj7620_write_reg(0x08,0x0D);
	paj7620_write_reg(0x09,0x0E);
	paj7620_write_reg(0x0A,0x9C);
	paj7620_write_reg(0x0B,0x04);
	paj7620_write_reg(0x0C,0x05);
	paj7620_write_reg(0x0D,0x0F);
	paj7620_write_reg(0x0E,0x02);
	paj7620_write_reg(0x0F,0x12);
	paj7620_write_reg(0x10,0x02);
	paj7620_write_reg(0x11,0x02);
	paj7620_write_reg(0x12,0x00);
	paj7620_write_reg(0x13,0x01);
	paj7620_write_reg(0x14,0x05);
	paj7620_write_reg(0x15,0x07);
	paj7620_write_reg(0x16,0x05);
	paj7620_write_reg(0x17,0x07);
	paj7620_write_reg(0x18,0x01);
	paj7620_write_reg(0x19,0x04);
	paj7620_write_reg(0x1A,0x05);
	paj7620_write_reg(0x1B,0x0C);
	paj7620_write_reg(0x1C,0x2A);
	paj7620_write_reg(0x1D,0x01);
	paj7620_write_reg(0x1E,0x00);
	paj7620_write_reg(0x21,0x00);
	paj7620_write_reg(0x22,0x00);
	paj7620_write_reg(0x23,0x00);
	paj7620_write_reg(0x25,0x01);
	paj7620_write_reg(0x26,0x00);
	paj7620_write_reg(0x27,0x39);
	paj7620_write_reg(0x28,0x7F);
	paj7620_write_reg(0x29,0x08);
	paj7620_write_reg(0x30,0x03);
	paj7620_write_reg(0x31,0x00);
	paj7620_write_reg(0x32,0x1A);
	paj7620_write_reg(0x33,0x1A);
	paj7620_write_reg(0x34,0x07);
	paj7620_write_reg(0x35,0x07);
	paj7620_write_reg(0x36,0x01);
	paj7620_write_reg(0x37,0xFF);
	paj7620_write_reg(0x38,0x36);
	paj7620_write_reg(0x39,0x07);
	paj7620_write_reg(0x3A,0x00);
	paj7620_write_reg(0x3E,0xFF);
	paj7620_write_reg(0x3F,0x00);
	paj7620_write_reg(0x40,0x77);
	paj7620_write_reg(0x41,0x40);
	paj7620_write_reg(0x42,0x00);
	paj7620_write_reg(0x43,0x30);
	paj7620_write_reg(0x44,0xA0);
	paj7620_write_reg(0x45,0x5C);
	paj7620_write_reg(0x46,0x00);
	paj7620_write_reg(0x47,0x00);
	paj7620_write_reg(0x48,0x58);
	paj7620_write_reg(0x4A,0x1E);
	paj7620_write_reg(0x4B,0x1E);
	paj7620_write_reg(0x4C,0x00);
	paj7620_write_reg(0x4D,0x00);
	paj7620_write_reg(0x4E,0xA0);
	paj7620_write_reg(0x4F,0x80);
	paj7620_write_reg(0x50,0x00);
	paj7620_write_reg(0x51,0x00);
	paj7620_write_reg(0x52,0x00);
	paj7620_write_reg(0x53,0x00);
	paj7620_write_reg(0x54,0x00);
	paj7620_write_reg(0x57,0x80);
	paj7620_write_reg(0x59,0x10);
	paj7620_write_reg(0x5A,0x08);
	paj7620_write_reg(0x5B,0x94);
	paj7620_write_reg(0x5C,0xE8);
	paj7620_write_reg(0x5D,0x08);
	paj7620_write_reg(0x5E,0x3D);
	paj7620_write_reg(0x5F,0x99);
	paj7620_write_reg(0x60,0x45);
	paj7620_write_reg(0x61,0x40);
	paj7620_write_reg(0x63,0x2D);
	paj7620_write_reg(0x64,0x02);
	paj7620_write_reg(0x65,0x96);
	paj7620_write_reg(0x66,0x00);
	paj7620_write_reg(0x67,0x97);
	paj7620_write_reg(0x68,0x01);
	paj7620_write_reg(0x69,0xCD);
	paj7620_write_reg(0x6A,0x01);
	paj7620_write_reg(0x6B,0xB0);
	paj7620_write_reg(0x6C,0x04);
	paj7620_write_reg(0x6D,0x2C);
	paj7620_write_reg(0x6E,0x01);
	paj7620_write_reg(0x6F,0x32);
	paj7620_write_reg(0x71,0x00);
	paj7620_write_reg(0x72,0x01);
	paj7620_write_reg(0x73,0x35);
	paj7620_write_reg(0x74,0x00);
	paj7620_write_reg(0x75,0x33);
	paj7620_write_reg(0x76,0x31);
	paj7620_write_reg(0x77,0x01);
	paj7620_write_reg(0x7C,0x84);
	paj7620_write_reg(0x7D,0x03);
	paj7620_write_reg(0x7E,0x01);
}

function paj7620_read_reg($addr, &$data)
{
	i2c_write(I2C_ID, $addr&0xFF, 1);
	i2c_read(I2C_ID, $data, 1);
	return 0;
}

function paj7620_select_bank($bank)
{
    switch($bank){
		case BANK0:
			paj7620_write_reg(PAJ7620_REGITER_BANK_SEL, PAJ7620_BANK0);
			break;
		case BANK1:
			paj7620_write_reg(PAJ7620_REGITER_BANK_SEL, PAJ7620_BANK1);
			break;
		default:
			break;
	}
}

function PAJ7620_init() 
{
	$i = 0;
	
	$data0 = 0;
	$data1 = 0;

	usleep(700);	
	//Wait 700us for PAJ7620U2 to be stabilized	
	
	i2c_setup(I2C_ID, PAJ7620_ID);
	paj7620_select_bank(BANK0);
	
	paj7620_read_reg(0, $data0);	
	paj7620_read_reg(1, $data1);

	if ( ($data0 != 0x20 ) || ($data1 != 0x76) )
	{
		return 0xff;
	}

	init_register();

	paj7620_select_bank(BANK0);  
	
	return 0;
}


function get_gesture()
{
	$data = 0;
	$data1 = 0;
	
	paj7620_read_reg(0x43, $data);				

	switch ($data) 		
	{		
		case GES_RIGHT_FLAG:
			usleep(GES_ENTRY_TIME);
			paj7620_read_reg(0x43, $data);
			if($data == GES_FORWARD_FLAG) 
			{
				echo "Forward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else if($data == GES_BACKWARD_FLAG) 
			{
				echo "Backward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else
			{
				echo "Right \r\n";
				return CMD_RIGHT;
			}          
			break;
		case GES_LEFT_FLAG: 
			usleep(GES_ENTRY_TIME);
			paj7620_read_reg(0x43, $data);
			if($data == GES_FORWARD_FLAG) 
			{
				echo "Forward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else if($data == GES_BACKWARD_FLAG) 
			{
				echo "Backward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else
			{
				echo "Left \r\n";
				return CMD_LEFT;
			}          
			break;
		case GES_UP_FLAG:
			usleep(GES_ENTRY_TIME);
			paj7620_read_reg(0x43, $data);
			if($data == GES_FORWARD_FLAG) 
			{
				echo "Forward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else if($data == GES_BACKWARD_FLAG) 
			{
				echo "Backward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else
			{
				echo "Up \r\n";
				return CMD_UP;
			}          
			break;
		case GES_DOWN_FLAG:
			usleep(GES_ENTRY_TIME);
			paj7620_read_reg(0x43, $data);
			if($data == GES_FORWARD_FLAG) 
			{
				echo "Forward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else if($data == GES_BACKWARD_FLAG) 
			{
				echo "Backward \r\n";
				usleep(GES_QUIT_TIME);
			}
			else
			{
				echo "Down \r\n";
				return CMD_DOWN;
			}          
			break;
		
		default:
			paj7620_read_reg(0x43, $data1);
			if ($data1 == GES_WAVE_FLAG) 
			{
				echo "Wave \r\n";
			}
			break;
	}
	return 0;
}

?>
task0.phpPHP
<?php

include "gesture_PAJ7620.php";
define("PWM_PERIOD", 20000); 
define("WIDTH_MIN", 771);
define("WIDTH_MAX", 2193);

function servo_set_angle($id, $angle) 
{             
    $width = WIDTH_MIN + (int)round((WIDTH_MAX - WIDTH_MIN) * $angle / 180.0);
    if(($width >= WIDTH_MIN) && ($width <= WIDTH_MAX))
        ht_pwm_width($id, $width, PWM_PERIOD);
}

// Angles of two motor (degree)
$angles = array(0,0); 
$angle_max =  array(180, 90);
$angle_min =  array( 0, 0);
$pwm = array(0, 1); // HT0 control lef_right motor, HT1 control up_down motor
$degree_step = 90;
i2c_scan(0);
PAJ7620_init();

ht_pwm_setup($pwm[0], 0, PWM_PERIOD, "us");
ht_pwm_setup($pwm[1], 0, PWM_PERIOD, "us");


servo_set_angle($pwm[0], 90);
servo_set_angle($pwm[1], 0);

while(1)
{
	sleep(1);
   	
  $cmd = get_gesture();
  if($cmd==0)
  	continue;
  	            
	switch ($cmd)
	{
		case CMD_LEFT:
			$angles[0]  += $degree_step;
			break;
		case CMD_RIGHT:
			$angles[0]  -= $degree_step;
			break;
		case CMD_DOWN:
			$angles[1]  -= $degree_step;
			break;
		case CMD_UP:
			$angles[1]  += $degree_step;
			break;
		default:
			break;
	}
                
        for($i = 0; $i <2; $i++)
        {        
            if($angles[$i] > $angle_max[$i])
                $angles[$i] = $angle_max[$i];
            else if($angles[$i] < $angle_min[$i])
                $angles[$i] = $angle_min[$i];
             
            servo_set_angle($pwm[$i], $angles[$i]);
        }
		
}

?>

Credits

Homer lbcrkvt7kw
Homer
0 projects • 13 followers
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