Face Tracking Camera

1//Sketch based on work done by Robin2 on the arduino forum
2//more info  here
3//https://forum.arduino.cc/index.php?topic=225329.msg1810764#msg1810764
4
5
6#include  <Servo.h>
7
8Servo panServo;
9Servo tiltServo; 
10
11byte redledPin = 2;
12byte  yellowledPin = 3;
13byte greenledPin = 4;
14
15const byte buffSize = 40;
16char  inputBuffer[buffSize];
17const char startMarker = '<';
18const char endMarker  = '>';
19byte bytesRecvd = 0;
20boolean readInProgress = false;
21boolean newDataFromPC  = false;
22
23float panServoAngle = 90.0;
24float tiltServoAngle = 90.0;
25int  LED_state = 0;
26
27//8=============D
28
29void setup() {
30  Serial.begin(115200);
31  
32  panServo.attach(8);
33  tiltServo.attach(9);
34
35  pinMode(redledPin,  OUTPUT);
36  pinMode(yellowledPin, OUTPUT);
37  pinMode(greenledPin, OUTPUT);
38  
39  //moveServo();
40  start_sequence();
41
42  delay(200);
43  
44  Serial.println("<Hasta  la vista baby>"); // send message to computer
45}
46
47//8=============D
48
49void  loop() {
50  getDataFromPC();
51  replyToPC();
52  moveServo();
53  setLED();
54}
55
56//8=============D
57
58void  getDataFromPC() {
59
60    // receive data from PC and save it into inputBuffer
61    
62  if(Serial.available() > 0) {
63
64    char x = Serial.read();              //read  char from serial
65      
66    if (x == endMarker) {                //look for  end marker
67      readInProgress = false;            //if found, set read in progress  true (will stop adding new byte to buffer)
68      newDataFromPC = true;              //let  arduino know that new data is available
69      inputBuffer[bytesRecvd] = 0;       //clear  input buffer
70      processData();                      // process data in buffer
71    }
72    
73    if(readInProgress) {
74      inputBuffer[bytesRecvd] = x;      //populate input buffer with bytes
75      bytesRecvd ++;                    //increment  index
76      if (bytesRecvd == buffSize) {     //when buffer is full
77        bytesRecvd  = buffSize - 1;      //keep space for end marker
78      }
79    }
80
81    if  (x == startMarker) {              // look for start maker
82      bytesRecvd =  0;                    // if found, set byte received to 0
83      readInProgress  = true;             // set read in progress true
84    }
85  }
86}
87
88//8=============D
89
90void  processData() // for data type "<float, float, int>" 
91{
92  char * strtokIndx;  // this is used by strtok() as an index
93
94   strtokIndx = strtok(inputBuffer,",");      // get the first part
95   panServoAngle = atof(strtokIndx);         // convert  this part to a float
96
97   strtokIndx = strtok(NULL,",");          // get  the second part(this continues where the previous call left off)
98   tiltServoAngle  = atof(strtokIndx);     // convert this part to a float
99
100   strtokIndx = strtok(NULL,  ",");      // get the last part
101   LED_state = atoi(strtokIndx);          //  convert this part to an integer (string to int)
102}
103
104//8=============D
105
106void  replyToPC() {
107
108  if (newDataFromPC) {
109    newDataFromPC = false;
110    Serial.print("<");
111    Serial.print(panServo.read());
112    Serial.print(",");
113    Serial.print(tiltServo.read());
114    Serial.println(">");
115  }
116}
117
118//8=============D
119
120void moveServo()  
121{
122  panServo.write(panServoAngle);
123  tiltServo.write(tiltServoAngle);
124}
125
126void  setLED()
127{
128  if(LED_state == 2){
129    digitalWrite(redledPin, LOW);
130    digitalWrite(yellowledPin, HIGH);
131    digitalWrite(greenledPin, LOW);
132    }
133  else if(LED_state == 1){
134    digitalWrite(redledPin, LOW);
135    digitalWrite(yellowledPin,  LOW);
136    digitalWrite(greenledPin, HIGH);    
137    }
138  else if(LED_state  == 0){
139    digitalWrite(redledPin, HIGH);
140    digitalWrite(yellowledPin, LOW);
141    digitalWrite(greenledPin, LOW);  
142    }  
143  else if(LED_state == 3){
144    digitalWrite(redledPin, HIGH);
145    digitalWrite(yellowledPin, HIGH);
146    digitalWrite(greenledPin, HIGH);  
147    }  
148  else{
149    digitalWrite(redledPin,  LOW);
150    digitalWrite(yellowledPin, LOW);
151    digitalWrite(greenledPin, LOW);    
152    }
153  
154  }
155
156//8=============D
157
158  void start_sequence()
159  {
160    panServo.write(90);
161    tiltServo.write(90);
162    delay(300);
163
164  
165    digitalWrite(redledPin, HIGH);
166    delay(100);
167    digitalWrite(redledPin,  LOW);
168    digitalWrite(yellowledPin, HIGH);
169    delay(100);
170    digitalWrite(yellowledPin,  LOW);
171    digitalWrite(greenledPin, HIGH);
172    delay(100);
173  
174    digitalWrite(redledPin,  LOW);
175    digitalWrite(yellowledPin, LOW);
176    digitalWrite(greenledPin, LOW);
177    delay(100);
178    digitalWrite(redledPin, HIGH);
179    digitalWrite(yellowledPin,  HIGH);
180    digitalWrite(greenledPin, HIGH);
181    delay(100);
182    digitalWrite(redledPin,  LOW);
183    digitalWrite(yellowledPin, LOW);
184    digitalWrite(greenledPin, LOW);
185    }
186

1//Sketch based on work done by Robin2 on the arduino forum
2//more info
3  here
4//https://forum.arduino.cc/index.php?topic=225329.msg1810764#msg1810764
5
6
7#include
8  <Servo.h>
9
10Servo panServo;
11Servo tiltServo; 
12
13byte redledPin = 2;
14byte
15  yellowledPin = 3;
16byte greenledPin = 4;
17
18const byte buffSize = 40;
19char
20  inputBuffer[buffSize];
21const char startMarker = '<';
22const char endMarker
23  = '>';
24byte bytesRecvd = 0;
25boolean readInProgress = false;
26boolean newDataFromPC
27  = false;
28
29float panServoAngle = 90.0;
30float tiltServoAngle = 90.0;
31int
32  LED_state = 0;
33
34//8=============D
35
36void setup() {
37  Serial.begin(115200);
38
39  
40  panServo.attach(8);
41  tiltServo.attach(9);
42
43  pinMode(redledPin,
44  OUTPUT);
45  pinMode(yellowledPin, OUTPUT);
46  pinMode(greenledPin, OUTPUT);
47
48  
49  //moveServo();
50  start_sequence();
51
52  delay(200);
53  
54  Serial.println("<Hasta
55  la vista baby>"); // send message to computer
56}
57
58//8=============D
59
60void
61  loop() {
62  getDataFromPC();
63  replyToPC();
64  moveServo();
65  setLED();
66}
67
68//8=============D
69
70void
71  getDataFromPC() {
72
73    // receive data from PC and save it into inputBuffer
74
75    
76  if(Serial.available() > 0) {
77
78    char x = Serial.read();              //read
79  char from serial
80      
81    if (x == endMarker) {                //look for
82  end marker
83      readInProgress = false;            //if found, set read in progress
84  true (will stop adding new byte to buffer)
85      newDataFromPC = true;              //let
86  arduino know that new data is available
87      inputBuffer[bytesRecvd] = 0;       //clear
88  input buffer
89      processData();                      // process data in buffer
90
91    }
92    
93    if(readInProgress) {
94      inputBuffer[bytesRecvd] = x;
95      //populate input buffer with bytes
96      bytesRecvd ++;                    //increment
97  index
98      if (bytesRecvd == buffSize) {     //when buffer is full
99        bytesRecvd
100  = buffSize - 1;      //keep space for end marker
101      }
102    }
103
104    if
105  (x == startMarker) {              // look for start maker
106      bytesRecvd =
107  0;                    // if found, set byte received to 0
108      readInProgress
109  = true;             // set read in progress true
110    }
111  }
112}
113
114//8=============D
115
116void
117  processData() // for data type "<float, float, int>" 
118{
119  char * strtokIndx;
120  // this is used by strtok() as an index
121
122   strtokIndx = strtok(inputBuffer,",");
123      // get the first part
124   panServoAngle = atof(strtokIndx);         // convert
125  this part to a float
126
127   strtokIndx = strtok(NULL,",");          // get
128  the second part(this continues where the previous call left off)
129   tiltServoAngle
130  = atof(strtokIndx);     // convert this part to a float
131
132   strtokIndx = strtok(NULL,
133  ",");      // get the last part
134   LED_state = atoi(strtokIndx);          //
135  convert this part to an integer (string to int)
136}
137
138//8=============D
139
140void
141  replyToPC() {
142
143  if (newDataFromPC) {
144    newDataFromPC = false;
145    Serial.print("<");
146
147    Serial.print(panServo.read());
148    Serial.print(",");
149    Serial.print(tiltServo.read());
150
151    Serial.println(">");
152  }
153}
154
155//8=============D
156
157void moveServo()
158  
159{
160  panServo.write(panServoAngle);
161  tiltServo.write(tiltServoAngle);
162}
163
164void
165  setLED()
166{
167  if(LED_state == 2){
168    digitalWrite(redledPin, LOW);
169
170    digitalWrite(yellowledPin, HIGH);
171    digitalWrite(greenledPin, LOW);
172
173    }
174  else if(LED_state == 1){
175    digitalWrite(redledPin, LOW);
176    digitalWrite(yellowledPin,
177  LOW);
178    digitalWrite(greenledPin, HIGH);    
179    }
180  else if(LED_state
181  == 0){
182    digitalWrite(redledPin, HIGH);
183    digitalWrite(yellowledPin, LOW);
184
185    digitalWrite(greenledPin, LOW);  
186    }  
187  else if(LED_state == 3){
188
189    digitalWrite(redledPin, HIGH);
190    digitalWrite(yellowledPin, HIGH);
191
192    digitalWrite(greenledPin, HIGH);  
193    }  
194  else{
195    digitalWrite(redledPin,
196  LOW);
197    digitalWrite(yellowledPin, LOW);
198    digitalWrite(greenledPin, LOW);
199    
200    }
201  
202  }
203
204//8=============D
205
206  void start_sequence()
207
208  {
209    panServo.write(90);
210    tiltServo.write(90);
211    delay(300);
212
213
214  
215    digitalWrite(redledPin, HIGH);
216    delay(100);
217    digitalWrite(redledPin,
218  LOW);
219    digitalWrite(yellowledPin, HIGH);
220    delay(100);
221    digitalWrite(yellowledPin,
222  LOW);
223    digitalWrite(greenledPin, HIGH);
224    delay(100);
225  
226    digitalWrite(redledPin,
227  LOW);
228    digitalWrite(yellowledPin, LOW);
229    digitalWrite(greenledPin, LOW);
230
231    delay(100);
232    digitalWrite(redledPin, HIGH);
233    digitalWrite(yellowledPin,
234  HIGH);
235    digitalWrite(greenledPin, HIGH);
236    delay(100);
237    digitalWrite(redledPin,
238  LOW);
239    digitalWrite(yellowledPin, LOW);
240    digitalWrite(greenledPin, LOW);
241
242    }
243