Hand gesture control wheelchair for disabled people

With the help of hand gesture corresponding to the Accelerometer sensor the wheel chair will move

Mar 6, 2020

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Devices & Components

Arduino Nano

nRF24 Module (Generic)

DC Motor, 12 V

Jumper wires (generic)

Dual H-Bridge motor drivers L298

Hardware & Tools

Soldering iron (generic)

Hot glue gun (generic)

Software & Tools

Arduino IDE

Project description

Code

Receiver Code

arduino

1#include <nRF24L01.h>
2#include <printf.h>
3#include <RF24.h>
4#include  <RF24_config.h>
5#include <SPI.h>      //SPI library for communicate with the  nRF24L01+
6#include "RF24.h"     //The main library of the nRF24L01+
7
8
9const  int enbA = 3;
10const int enbB = 5;
11
12const int IN1 = 2;    //Right Motor  (-)
13const int IN2 = 4;    //Right Motor (+)
14const int IN3 = 7;    //Left Motor  (+)
15const int IN4 = 6;    //Right Motor (-)
16
17int RightSpd = 130;
18int  LeftSpd = 130;
19
20int data[2];
21
22
23RF24 radio(9,10);
24
25const uint64_t  pipe = 0xE8E8F0F0E1LL;
26
27void setup(){
28  //Define the motor pins as OUTPUT
29  pinMode(enbA, OUTPUT);
30  pinMode(enbB, OUTPUT);
31  pinMode(IN1, OUTPUT);
32  pinMode(IN2, OUTPUT);
33  pinMode(IN3, OUTPUT);
34  pinMode(IN4, OUTPUT);
35  
36  Serial.begin(9600);
37  radio.begin();                               
38  radio.openReadingPipe(1, pipe);
39  radio.startListening();             
40  }
41
42void loop(){
43  if (radio.available()){
44    radio.read(data, sizeof(data));
45
46    if(data[0] > 380){
47      //forward            
48      analogWrite(enbA,  RightSpd);
49      analogWrite(enbB, LeftSpd);
50      digitalWrite(IN1, HIGH);
51      digitalWrite(IN2, LOW);
52      digitalWrite(IN3, HIGH);
53      digitalWrite(IN4,  LOW);
54    }
55    
56    if(data[0] < 310){
57      //backward              
58      analogWrite(enbA, RightSpd);
59      analogWrite(enbB, LeftSpd);
60      digitalWrite(IN1,  LOW);
61      digitalWrite(IN2, HIGH);
62      digitalWrite(IN3, LOW);
63      digitalWrite(IN4,  HIGH);
64    }
65     
66    if(data[1] > 180){
67      //left
68      analogWrite(enbA,  RightSpd);
69      analogWrite(enbB, LeftSpd);
70      digitalWrite(IN1, HIGH);
71      digitalWrite(IN2, LOW);
72      digitalWrite(IN3, LOW);
73      digitalWrite(IN4,  HIGH);
74    }
75
76    if(data[1] < 110){
77      //right
78      analogWrite(enbA,  RightSpd);
79      analogWrite(enbB, LeftSpd);
80      digitalWrite(IN1, LOW);
81      digitalWrite(IN2, HIGH);
82      digitalWrite(IN3, HIGH);
83      digitalWrite(IN4,  LOW);
84    }
85
86    if(data[0] > 330 && data[0] < 360 && data[1] > 130 &&  data[1] < 160){
87      //stop car
88      analogWrite(enbA, 0);
89      analogWrite(enbB,  0);
90    }
91  }
92}

#include <nRF24L01.h>
#include <printf.h>
#include <RF24.h>
#include  <RF24_config.h>
#include <SPI.h>      //SPI library for communicate with the  nRF24L01+
#include "RF24.h"     //The main library of the nRF24L01+


const  int enbA = 3;
const int enbB = 5;

const int IN1 = 2;    //Right Motor  (-)
const int IN2 = 4;    //Right Motor (+)
const int IN3 = 7;    //Left Motor  (+)
const int IN4 = 6;    //Right Motor (-)

int RightSpd = 130;
int  LeftSpd = 130;

int data[2];


RF24 radio(9,10);

const uint64_t  pipe = 0xE8E8F0F0E1LL;

void setup(){
  //Define the motor pins as OUTPUT
  pinMode(enbA, OUTPUT);
  pinMode(enbB, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  
  Serial.begin(9600);
  radio.begin();                               
  radio.openReadingPipe(1, pipe);
  radio.startListening();             
  }

void loop(){
  if (radio.available()){
    radio.read(data, sizeof(data));

    if(data[0] > 380){
      //forward            
      analogWrite(enbA,  RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4,  LOW);
    }
    
    if(data[0] < 310){
      //backward              
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1,  LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4,  HIGH);
    }
     
    if(data[1] > 180){
      //left
      analogWrite(enbA,  RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4,  HIGH);
    }

    if(data[1] < 110){
      //right
      analogWrite(enbA,  RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4,  LOW);
    }

    if(data[0] > 330 && data[0] < 360 && data[1] > 130 &&  data[1] < 160){
      //stop car
      analogWrite(enbA, 0);
      analogWrite(enbB,  0);
    }
  }
}

Receiver Code

arduino

1#include <nRF24L01.h>
2#include <printf.h>
3#include <RF24.h>
4#include   <RF24_config.h>
5#include <SPI.h>      //SPI library for communicate with the   nRF24L01+
6#include "RF24.h"     //The main library of the nRF24L01+
7
8
9const   int enbA = 3;
10const int enbB = 5;
11
12const int IN1 = 2;    //Right Motor   (-)
13const int IN2 = 4;    //Right Motor (+)
14const int IN3 = 7;    //Left Motor   (+)
15const int IN4 = 6;    //Right Motor (-)
16
17int RightSpd = 130;
18int   LeftSpd = 130;
19
20int data[2];
21
22
23RF24 radio(9,10);
24
25const uint64_t   pipe = 0xE8E8F0F0E1LL;
26
27void setup(){
28  //Define the motor pins as OUTPUT
29   pinMode(enbA, OUTPUT);
30  pinMode(enbB, OUTPUT);
31  pinMode(IN1, OUTPUT);
32   pinMode(IN2, OUTPUT);
33  pinMode(IN3, OUTPUT);
34  pinMode(IN4, OUTPUT);
35   
36  Serial.begin(9600);
37  radio.begin();                               
38   radio.openReadingPipe(1, pipe);
39  radio.startListening();             
40   }
41
42void loop(){
43  if (radio.available()){
44    radio.read(data, sizeof(data));
45
46     if(data[0] > 380){
47      //forward            
48      analogWrite(enbA,   RightSpd);
49      analogWrite(enbB, LeftSpd);
50      digitalWrite(IN1, HIGH);
51       digitalWrite(IN2, LOW);
52      digitalWrite(IN3, HIGH);
53      digitalWrite(IN4,   LOW);
54    }
55    
56    if(data[0] < 310){
57      //backward              
58       analogWrite(enbA, RightSpd);
59      analogWrite(enbB, LeftSpd);
60      digitalWrite(IN1,   LOW);
61      digitalWrite(IN2, HIGH);
62      digitalWrite(IN3, LOW);
63      digitalWrite(IN4,   HIGH);
64    }
65     
66    if(data[1] > 180){
67      //left
68      analogWrite(enbA,   RightSpd);
69      analogWrite(enbB, LeftSpd);
70      digitalWrite(IN1, HIGH);
71       digitalWrite(IN2, LOW);
72      digitalWrite(IN3, LOW);
73      digitalWrite(IN4,   HIGH);
74    }
75
76    if(data[1] < 110){
77      //right
78      analogWrite(enbA,   RightSpd);
79      analogWrite(enbB, LeftSpd);
80      digitalWrite(IN1, LOW);
81       digitalWrite(IN2, HIGH);
82      digitalWrite(IN3, HIGH);
83      digitalWrite(IN4,   LOW);
84    }
85
86    if(data[0] > 330 && data[0] < 360 && data[1] > 130 &&   data[1] < 160){
87      //stop car
88      analogWrite(enbA, 0);
89      analogWrite(enbB,   0);
90    }
91  }
92}

#include <nRF24L01.h>
#include <printf.h>
#include <RF24.h>
#include   <RF24_config.h>
#include <SPI.h>      //SPI library for communicate with the   nRF24L01+
#include "RF24.h"     //The main library of the nRF24L01+


const   int enbA = 3;
const int enbB = 5;

const int IN1 = 2;    //Right Motor   (-)
const int IN2 = 4;    //Right Motor (+)
const int IN3 = 7;    //Left Motor   (+)
const int IN4 = 6;    //Right Motor (-)

int RightSpd = 130;
int   LeftSpd = 130;

int data[2];


RF24 radio(9,10);

const uint64_t   pipe = 0xE8E8F0F0E1LL;

void setup(){
  //Define the motor pins as OUTPUT
   pinMode(enbA, OUTPUT);
  pinMode(enbB, OUTPUT);
  pinMode(IN1, OUTPUT);
   pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
   
  Serial.begin(9600);
  radio.begin();                               
   radio.openReadingPipe(1, pipe);
  radio.startListening();             
   }

void loop(){
  if (radio.available()){
    radio.read(data, sizeof(data));

     if(data[0] > 380){
      //forward            
      analogWrite(enbA,   RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
       digitalWrite(IN2, LOW);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4,   LOW);
    }
    
    if(data[0] < 310){
      //backward              
       analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1,   LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4,   HIGH);
    }
     
    if(data[1] > 180){
      //left
      analogWrite(enbA,   RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
       digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4,   HIGH);
    }

    if(data[1] < 110){
      //right
      analogWrite(enbA,   RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
       digitalWrite(IN2, HIGH);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4,   LOW);
    }

    if(data[0] > 330 && data[0] < 360 && data[1] > 130 &&   data[1] < 160){
      //stop car
      analogWrite(enbA, 0);
      analogWrite(enbB,   0);
    }
  }
}

Transmitter code

arduino

1#include <SPI.h>        //SPI library for communicate with the nRF24L01+
2#include  "RF24.h"       //The main library of the nRF24L01+
3#include "Wire.h"       //For  communicate
4#include "I2Cdev.h"     //For communicate with MPU6050
5#include  "MPU6050.h"    //The main library of the MPU6050
6
7MPU6050 mpu;
8int16_t  ax, ay, az;
9int16_t gx, gy, gz;
10int data[2];
11
12RF24 radio(9,10);
13                                    
14const uint64_t pipe = 0xE8E8F0F0E1LL;
15
16void  setup(void){
17  Serial.begin(9600);
18  Wire.begin();
19  mpu.initialize();              //Initialize the MPU object
20  radio.begin();                 //Start  the nRF24 communicate     
21  radio.openWritingPipe(pipe);   //Sets the address  of the receiver to which the program will send data.
22}
23
24void loop(void){
25  
26  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
27
28 
29  data[0] = map(ax,  -17000, 17000, 300, 400 ); //Send X axis data
30  data[1] = map(ay, -17000, 17000,  100, 200);  //Send Y axis data
31  radio.write(data, sizeof(data));
32}

#include <SPI.h>        //SPI library for communicate with the nRF24L01+
#include  "RF24.h"       //The main library of the nRF24L01+
#include "Wire.h"       //For  communicate
#include "I2Cdev.h"     //For communicate with MPU6050
#include  "MPU6050.h"    //The main library of the MPU6050

MPU6050 mpu;
int16_t  ax, ay, az;
int16_t gx, gy, gz;
int data[2];

RF24 radio(9,10);
                                    
const uint64_t pipe = 0xE8E8F0F0E1LL;

void  setup(void){
  Serial.begin(9600);
  Wire.begin();
  mpu.initialize();              //Initialize the MPU object
  radio.begin();                 //Start  the nRF24 communicate     
  radio.openWritingPipe(pipe);   //Sets the address  of the receiver to which the program will send data.
}

void loop(void){
  
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);

 
  data[0] = map(ax,  -17000, 17000, 300, 400 ); //Send X axis data
  data[1] = map(ay, -17000, 17000,  100, 200);  //Send Y axis data
  radio.write(data, sizeof(data));
}

Downloadable files

Circuit diagram of wheel chair RECEIVER

wheel chair

Circuit diagram of hand gesture TRANSMITTER

Circuit diagram of wheel chair RECEIVER

wheel chair

Circuit diagram of hand gesture TRANSMITTER

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