Example Code for Arduino - Detecting Gesture with ID=1

Hardware Preparation

• Gravity: AI Posture and Gesture Sensor (SKU: SEN0670) ×1
• FireBeetle 2 ESP32‑E (SKU: DFR0654)
• USB Type‑C cable ×1
• PC ×1

Software Preparation

• Programming environment: Click to download Arduino IDE
• Download and install the sensor library: DFRobot_HumanPose
• Please click here to view: How to install a library?

Wiring Diagram

I²C Connection (The following examples all use I²C communication)

Connection Description:

UART Connection

Connection Description:

Note:

• The default communication method of the sensor is I²C. If you need to switch to UART, use the on‑board DIP switch to change the communication method.
• After switching, the sensor must be powered off and on again for the change to take effect.

Sample Code

Function: Drive gesture sensor over I2C, light on LED and print log when gesture ID=1 is detected.

Example Code:

#include <DFRobot_HumanPose.h>

// I2C communication
const uint8_t I2C_ADDR = 0x3A;
DFRobot_HumanPose_I2C humanPose(&Wire, I2C_ADDR);

void setup() {
  Serial.begin(115200);

  // Initialise the sensor
  while (!humanPose.begin()) {
    Serial.println("Sensor initialisation failed!");
    delay(1000);
  }
  Serial.println("Sensor initialisation successful!");

  // Set hand detection mode
  humanPose.setModelType(DFRobot_HumanPose::eHand);

  // Reduce false recognition: increase confidence threshold
  humanPose.setConfidence(80);
  humanPose.setLearnSimilarity(80);

  // Initialise LED
  pinMode(LED_BUILTIN, OUTPUT);
  digitalWrite(LED_BUILTIN, LOW);
}

void loop() {
  bool ledState = LOW; // Default: LED off

  if (humanPose.getResult() == DFRobot_HumanPose::eOK) {
    while (humanPose.availableResult()) {
      Result *result = humanPose.popResult();
      if (!result) continue;

      // ==========================================
      // ? LED turns on only for ID=1
      // ==========================================
      if (result->id == 1 && result->score >= 80) {
        ledState = HIGH;
        Serial.print("✅ Recognised gesture with ID=1: ");
        Serial.println(result->name);
      }
    }
  }

  // Control the LED
  digitalWrite(LED_BUILTIN, ledState);
  delay(100);
}

Result:

When you make the "victory" (✌) gesture towards the camera, the LED on the main board turns on.