Example Code for Arduino-Read gesture by polling
Last revision 2026/01/22
Read gesture by polling
Hardware Preparation
- DFRduino UNO R3 (or similar) x 1
- Fermion: GR10-30 Gesture Sensor x 1
- DuPont Wires
Software Preparation
- Arduino IDE
- RTU Library (Install RTU library when using serial for communication)
- Download and install the GR10-30 library & sample codes. (About how to install the library?)
Wiring Diagram
Parameter Explanation
- gr10_30.setLeftRange(5);
When the detected hand moves five units to the left, it will be determined as "move left" gesture- Moving distance (cm)=(hand distance from sensor * Set parameter) / 25
- gr10_30.setUdlrWin(18, 11);
Set recognition area as 18*11 units - gr10_30.setCwsAngle(4);
Rotating by 90° will be determined as "rotate" gesture- The recognition distance for rotation gestures is about half of the maximum recognition distance.
- The recognition distance for rotation gestures is about half of the maximum recognition distance.
Sample Code
/*!
* @file getGestures.ino
* @brief Run the routine to read gesture type
* @n
* @n connected table
* ---------------------------------------------------------------------------------------------------------------
* board | MCU | Leonardo/Mega2560/M0 | UNO | ESP8266 | ESP32 | microbit |
* VCC | 3.3V/5V | VCC | VCC | VCC | VCC | X |
* GND | GND | GND | GND | GND | GND | X |
* RX | TX | Serial1 TX1 | 5 | 5/D6 | D2 | X |
* TX | RX | Serial1 RX1 | 4 | 4/D7 | D3 | X |
* ---------------------------------------------------------------------------------------------------------------
*
* @copyright Copyright (c) 2021 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author [zhixinliu]([email protected])
* @version V0.1
* @date 2022-07-25
* @url https://github.com/DFRobor/DFRobot_GR10_30
*/
#include "DFRobot_GR10_30.h"
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
#include <SoftwareSerial.h>
#endif
//#define UARTMODE // Serial mode
#define I2CMODE // I2C mode
#if defined UARTMODE
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
SoftwareSerial mySerial(/*rx =*/4, /*tx =*/5);
DFRobot_GR10_30 gr10_30(/*addr =*/GR10_30_DEVICE_ADDR, /*s =*/&mySerial);
#else
DFRobot_GR10_30 gr10_30(/*addr =*/GR10_30_DEVICE_ADDR, /*s =*/&Serial1);
#endif
#endif
#if defined I2CMODE
DFRobot_GR10_30 gr10_30(/*addr = */GR10_30_DEVICE_ADDR, /*pWire = */&Wire);
#endif
void setup()
{
#if defined UARTMODE
//Init MCU communication serial port
#if defined(ARDUINO_AVR_UNO)||defined(ESP8266)
mySerial.begin(9600);
#elif defined(ESP32)
Serial1.begin(9600, SERIAL_8N1, /*rx =*/D3, /*tx =*/D2);
#else
Serial1.begin(9600);
#endif
#endif
Serial.begin(115200);
while(gr10_30.begin() != 0){
Serial.println(" Sensor initialize failed!!");
delay(1000);
}
Serial.println(" Sensor initialize success!!");
/** Set the gesture to be enabled
* GESTURE_UP
* GESTURE_DOWN
* GESTURE_LEFT
* GESTURE_RIGHT
* GESTURE_FORWARD
* GESTURE_BACKWARD
* GESTURE_CLOCKWISE
* GESTURE_COUNTERCLOCKWISE
* GESTURE_WAVE It is not suggested to enable rotation gesture (CW/CCW) and wave gesture at the same time.
* GESTURE_HOVER Disable other gestures when hover gesture enables.
* GESTURE_UNKNOWN
* GESTURE_CLOCKWISE_C
* GESTURE_COUNTERCLOCKWISE_C
*/
gr10_30.enGestures(GESTURE_UP|GESTURE_DOWN|GESTURE_LEFT|GESTURE_RIGHT|GESTURE_FORWARD|GESTURE_BACKWARD|GESTURE_CLOCKWISE|GESTURE_COUNTERCLOCKWISE|GESTURE_CLOCKWISE_C|GESTURE_COUNTERCLOCKWISE_C);
// Use detailed config if enabled; use the default config if not enabled
/**
* Set the detection window you want, only data collected in the range are valid
* The largest window is 31, the configured number represents distance from the center to the top, bottom, left and right
* For example, if the configured distance from top to bottom is 30, then the distance from center to top is 15, and distance from center to bottom is also 15
* udSize Range of distance from top to bottom 0-31
* lrSize Range of distance from left to right 0-31
*/
// gr10_30.setUdlrWin(30, 30);
// gr10_30.setHovrWin(20, 20);
/**
* Set moving distance that can be recognized as a gesture
* Distance range 5-25, must be less than distances of the detection window
*/
// gr10_30.setLeftRange(10);
// gr10_30.setRightRange(10);
// gr10_30.setUpRange(10);
// gr10_30.setDownRange(10);
// gr10_30.setForwardRange(10);
// gr10_30.setBackwardRange(10);
/**
* Set distance of moving forward and backward that can be recognized as a gesture
* Distance range 1-15
*/
// gr10_30.setForwardRange(10);
// gr10_30.setBackwardRange(10);
/**
* Set wave number that can be recognized
* Number range 1-15
*/
// gr10_30.setWaveNumber(2);
/**
* Set hover time that can trigger the gesture
* 1-200 10ms-2s Default is 60 600ms
*/
// gr10_30.setHovrTimer(60);
/**
* Set rotation angle that can trigger the gesture
* count Default is 16 range 0-31
* count Rotation angle is 22.5 * count
* count = 16 22.5*count = 360 Rotate 360° to trigger the gesture
*/
// gr10_30.setCwsAngle(/*count*/16);
// gr10_30.setCcwAngle(/*count*/16);
/**
* Set degrees of continuous rotation that can trigger the gesture
* count Default is 4 range 0-31
* count The degrees of continuous rotation is 22.5 * count
* For example: count = 4 22.5*count = 90
* Trigger the clockwise/counterclockwise rotation gesture first, if keep rotating, then the continuous rotation gesture will be triggered once every 90 degrees
*/
// gr10_30.setCwsAngleCount(/*count*/8);
// gr10_30.setCcwAngleCount(/*count*/8);
}
void loop()
{
if(gr10_30.getDataReady()){
uint16_t gestures = gr10_30.getGesturesState();
if(gestures&GESTURE_UP){
Serial.println("Up");
}
if(gestures&GESTURE_DOWN){
Serial.println("Down");
}
if(gestures&GESTURE_LEFT){
Serial.println("Left");
}
if(gestures&GESTURE_RIGHT){
Serial.println("Right");
}
if(gestures&GESTURE_FORWARD){
Serial.println("Forward");
}
if(gestures&GESTURE_BACKWARD){
Serial.println("Backward");
}
if(gestures&GESTURE_CLOCKWISE){
Serial.println("Clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE){
Serial.println("Contrarotate");
}
if(gestures&GESTURE_WAVE){
Serial.println("Wave");
}
if(gestures&GESTURE_HOVER){
Serial.println("Hover");
}
if(gestures&GESTURE_CLOCKWISE_C){
Serial.println("Continuous clockwise");
}
if(gestures&GESTURE_COUNTERCLOCKWISE_C){
Serial.println("Continuous counterclockwise");
}
}
delay(1);
}
Result
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