Wireless Hand gesture controlled Robot with Joystick & Flex Sensor using Arduino
Description:
Wireless Hand gesture controlled Robot – In this project, we will learn how to use Arduino, L298N Motor Driver, Flex Sensor, 2 Axis Joystick and 433Mhz RF transmitter and receiver to create a wireless Hand gesture operated the robot.
The Flex sensor will be used as the accelerator in this tutorial, while the joystick will be used to control the motions forward, back, left and right. The speed of the motors can be controlled as we close and open the hand in real-time. Using the built-in Joystick push button, the robot control system can be switched on and off.
Once the control system is triggered, the Robot car can be operated by the flex sensor and joystick together. When the finger is straight it means no acceleration, so even if you push the joystick the motors won’t turn, but as you start bending the flex sensor the motors start spinning, then the motors can be adjusted in real-time depending on the amount of the bend.
The Amazon Purchase links are given below:
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Mega 2560: https://amzn.to/2SszMsI
Robot Car chassis kit: https://amzn.to/35tF22h
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Joystick: https://amzn.to/2QT8slj
L298N Dual H-Bridge motor driver: https://amzn.to/2tw1ESs
433Mhz tx and Rx: best offer https://amzn.to/2QpLpzo
lm7805 Voltage Regulator: https://amzn.to/2ERYoTJ
330-ohm resistors pack: https://amzn.to/2Qj1Igg
female DC power jack socket: https://amzn.to/377Pg9M
470uf capacitors: https://amzn.to/2MrN3xR
5×7 cm Vero board: https://amzn.to/37b7KWO
female headers: https://amzn.to/350w6RE
connection wires: https://amzn.to/2MvOJXd
Super Starter kit for Beginners: https://amzn.to/398dliF
Jumper Wires: https://amzn.to/2SrnBwo
Bread Board: https://amzn.to/2MxV5FM
12v Adaptor: https://amzn.to/2MuOlZk
PCB plate: https://amzn.to/2MuwNMB
Variable Supply: https://amzn.to/39d0KdP
Digital Multimeter: https://amzn.to/34WbVoa
Vero Board / stripboard: https://amzn.to/39nL9Zg
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Wire Stripper: https://amzn.to/353tYJa
wirecutter: https://amzn.to/2tV2lFj
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DISCLAIMER:
Please Note: these are affiliate links. I may make a commission if you buy the components through these links. I would appreciate your support in this way!
Interfacing:
All the connections used in this project based on the Wireless Hand Management Controlled Robot are exactly the same as my previous tutorials explained. I haven’t even changed one single wire. On the programming side, the only modification is that which is really easy and I will explain each instruction.
This is the Transmitter Side based on the RF transmitter of 433 Mhz and a joystick of 2 axes. The cabling is exactly the same as in version 2. I made a very small modification in version 3 which is that I added this small circuit.
And this Flex sensor has been added.
The flex sensor is basically a variable resistor, and as we bend the sensor, its resistance changes. As the bend increases, the resistance decreases.
As you can see, I soldered two “red and white” wires with the flex sensor connected to the circuit as shown in the picture below.
This flex sensor is essentially connected in series with a 10k resistor that allows a divider of voltage. The wire is attached to the analog pin A0 from the middle of the flex sensor and 10k resistor. The red wire is connected to the Arduino’s pin number 6 to provide this circuit with 5volts. While the gray wire is connected to the ground of Arduino.
As you can see the flex sensor is attached to the glove, I can control the amount of bend by opening and closing the hand. Now let’s look at the programming of the Transmitter and Receiver.
gesture controlled Robot Programming:
Two programs are used in this project, one program is written on the side of the transmitter and another program is written on the side of the receiver. So let’s start with the side of the Transmitter first. The Virtual Wire library is used in both programming and can be downloaded by clicking the download button below.
Download: VirtualWire
gesture controlled Robot Transmitter side Programming:
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// Robot Transmitter programming #include <VirtualWire.h> const int transmit_pin = 12; String str; char cstr[100]; String message = ""; unsigned int mlength; // message length // for joystick int flag = 0; int buttonf = 0; int power1 = 6; int power2 = 7; int button = 4; int vrx = A1; int vry = A2; int flexs = A0; int fdata ; int xdata = 0; int ydata = 0; int in1data; int in2data; int in3data; int in4data; void setup() { // Initialise the IO and ISR vw_set_tx_pin(transmit_pin); vw_setup(2000); // Bits per sec Serial.begin(9600); pinMode(vrx, INPUT); pinMode(vry, INPUT); pinMode(flexs, INPUT); pinMode(power1, OUTPUT); pinMode(power2, OUTPUT); digitalWrite(power1, HIGH); digitalWrite(power2, HIGH); pinMode(button, INPUT); digitalWrite(button , HIGH); } void loop() { control(); if( buttonf == 1) { xdata = analogRead(vrx); ydata = analogRead(vry); fdata = analogRead(flexs); fdata = map(fdata, 200,0,0,255); if( fdata < 20 ) { fdata = 0; } if ( (fdata > 20 ) && ( fdata < 50)) { fdata = 50; } if ( (fdata > 50 ) && ( fdata < 100)) { fdata = 100; } if ( (fdata > 100 ) && ( fdata < 150)) { fdata = 150; } if ( (fdata > 150 ) && ( fdata < 200)) { fdata = 200; } if (fdata > 200 ) { fdata = 255; } if ( xdata > 600 ) // forward { in1data = 1; in2data = 0; in3data = 0; in4data = 1; } if ( xdata < 300 ) // reverse { in1data = 0; in2data = 1; in3data = 1; in4data = 0; } if ( ydata > 600 ) // right { in1data = 1; in2data = 0; in3data = 0; in4data = 0; } if ( ydata < 300 ) // left { in1data = 0; in2data = 0; in3data = 0; in4data = 1; } if ( (xdata > 300) && ( xdata < 600 ) && ( ydata > 300) && ( ydata < 600) ) { in1data = 0; in2data = 0; in3data = 0; in4data = 0; } //Serial.println(xdata); //Serial.println(ydata); SendData(in1data,in2data,in3data,in4data,buttonf,fdata); //delay(100); } if(buttonf == 0) { SendData(0,0,0,0,0,0); // send 0 to the receiver. delay(100); } } // this function takes 5 arguments as the input // the sensors and the sensors group number. // let's say we are using multiple sensors, the sensors //can be divided into groups. void SendData( int value1,int value2,int value3, int value4, int buttonstatus, int mspeed) { message = message + value1 +"," + value2 + "," + value3 + "," + value4 + "," + buttonstatus +"," +mspeed; Serial.println(message); mlength = message.length(); // find the number of characters in a message. str = message; str.toCharArray(cstr,100); vw_send((uint8_t *)cstr, mlength); // vw_wait_tx(); // Wait until the whole message is gone str = ""; message = ""; } void control() { if (( digitalRead(button) == LOW ) && (buttonf == 0)) { Serial.println(" Started"); buttonf = 1; delay(1000); } if (( digitalRead(button) == LOW ) && (buttonf == 1)) { Serial.println("ended"); buttonf = 0; delay(1000); } digitalWrite(button , HIGH); } |
gesture controlled Robot Receiver Side Programming:
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// receiver Programming #include <VirtualWire.h> const int receive_pin = 3; String message; String myString; // for joystick int xvalue; int yvalue; int buttonf; int in1data; int in2data; int in3data; int in4data; int mspeed; int bfdata; // buttonflag int fahad; // for L298N motor driver int ena = 5; int enb = 6; int in1 = 8; int in2 = 9; int in3 = 10; int in4 = 11; int sf = 0; void setup() { delay(1000); Serial.begin(9600); // Debugging only pinMode(ena, OUTPUT); pinMode(enb, OUTPUT); pinMode(in1, OUTPUT); pinMode(in2, OUTPUT); pinMode(in3, OUTPUT); pinMode(in4, OUTPUT); analogWrite(ena, 255); analogWrite(enb, 255); delay(1000); Serial.println("setup"); // Initialise the IO and ISR vw_set_rx_pin(receive_pin); vw_set_ptt_inverted(true); // Required for DR3100 vw_setup(2000); // Bits per sec vw_rx_start(); // Start the receiver PLL running } void loop() { rfreceive(); String l = getValue(myString, ',', 0); // in1 String m = getValue(myString, ',', 1); // in2 String n = getValue(myString, ',', 2); // in3 String o = getValue(myString, ',', 3); // in4 String p = getValue(myString, ',', 4); // buttonf String q = getValue(myString, ',', 5); // mspeed in1data = l.toInt(); in2data = m.toInt(); in3data = n.toInt(); in4data = o.toInt(); bfdata = p.toInt(); mspeed = q.toInt(); /* // print received data Serial.println(in1data); Serial.println(in2data); Serial.println(in3data); Serial.println(in4data); Serial.println(bfdata); Serial.println(mspeed); */ if ( bfdata == 0) { // Serial.println("stopped"); analogWrite(ena,0); analogWrite(enb,0); digitalWrite(in1,LOW); digitalWrite(in2, LOW); digitalWrite(in3,LOW); digitalWrite(in3,LOW); } if ( ( in1data == 0 ) && (in2data == 0 ) && (in3data == 0) && (in4data == 0) && ( bfdata == 1) ) { analogWrite(ena, 0); analogWrite(enb,0); //Serial.println("STOPPED"); digitalWrite(in1,LOW); digitalWrite(in2, LOW); digitalWrite(in3,LOW); digitalWrite(in4,LOW); } if ( ( in1data == 1 ) && (in2data== 0 ) && (in3data == 0) && (in4data == 1) && ( bfdata == 1) ) { // Serial.println("Forward"); analogWrite(ena, mspeed); analogWrite(enb,mspeed); digitalWrite(in1,HIGH); digitalWrite(in2, LOW); digitalWrite(in3,LOW); digitalWrite(in4,HIGH); } if ( ( in1data == 0 ) && (in2data== 1 ) && (in3data == 1) && (in4data == 0) && ( bfdata == 1) ) { //Serial.println("Reverse"); analogWrite(ena, mspeed); analogWrite(enb,mspeed); digitalWrite(in1,LOW); digitalWrite(in2, HIGH); digitalWrite(in3,HIGH); digitalWrite(in4,LOW); } if ( ( in1data == 1 ) && (in2data== 0 ) && (in3data == 0) && (in4data == 0) && ( bfdata == 1) ) { // Serial.println("RIGHT"); analogWrite(ena, mspeed); analogWrite(enb,mspeed); digitalWrite(in1,HIGH); digitalWrite(in2, LOW); digitalWrite(in3,LOW); digitalWrite(in4,LOW); } if ( ( in1data == 0 ) && (in2data== 0 ) && (in3data == 0) && (in4data == 1) && ( bfdata == 1) ) { // Serial.println("left"); analogWrite(ena, mspeed); analogWrite(enb,mspeed); digitalWrite(in1,LOW); digitalWrite(in2, LOW); digitalWrite(in3,LOW); digitalWrite(in4,HIGH); } //in1data = 0; //in2data = 0; //in3data = 0; //in4data = 0; //bfdata = 0; } String getValue(String data, char separator, int index) { int found = 0; int strIndex[] = { 0, -1 }; int maxIndex = data.length() - 1; for (int i = 0; i <= maxIndex && found <= index; i++) { if (data.charAt(i) == separator || i == maxIndex) { found++; strIndex[0] = strIndex[1] + 1; strIndex[1] = (i == maxIndex) ? i+1 : i; } } return found > index ? data.substring(strIndex[0], strIndex[1]) : ""; } void rfreceive() { uint8_t buf[VW_MAX_MESSAGE_LEN]; uint8_t buflen = VW_MAX_MESSAGE_LEN; if (vw_get_message(buf, &buflen)) // Non-blocking { int i; // Message with a good checksum received, dump it. //Serial.print("Got: "); for (i = 0; i < buflen; i++) { char c = (buf[i]); message = message + c ; // make a message from the received characters } myString = message; Serial.println(message); // delay(1000); message = ""; } } |
