#Import the necessary Packages for this software to run import mediapipe import cv2 from collections import Counter import random import time from time import sleep import RPi.GPIO as GPIO GPIO.setmode(GPIO.BOARD) trigger= GPIO.setup(11, GPIO.OUT) echo= GPIO.setup(13, GPIO.IN) in1 = 32 in2 = 33 in3 = 36 in4 = 37 GPIO.setup(8,GPIO.OUT) GPIO.setup(10,GPIO.OUT) enA= GPIO.PWM(8,100) enB= GPIO.PWM(10,100) GPIO.setup(in1, GPIO.OUT) GPIO.setup(in2, GPIO.OUT) GPIO.setup(in3, GPIO.OUT) GPIO.setup(in4, GPIO.OUT) GPIO.setup(26, GPIO.OUT) #Use MediaPipe to draw the hand framework over the top of hands it identifies in Real-Time drawingModule = mediapipe.solutions.drawing_utils handsModule = mediapipe.solutions.hands #Use CV2 Functionality to create a Video stream and add some values cap = cv2.VideoCapture(0) fourcc = cv2.VideoWriter_fourcc('m', 'p', '4', 'v') forwardcounter=0 secondcounter=0 obstacle_end=0 dancecounter=0 h=480 w=640 tip=[8,12,16,20] mid=[6,10,14,18] tipname=[8,12,16,20] midname=[6,10,14,18] fingers=[] finger=[] start_time=0 elapsed_time=0 beat2=0 def distance(): #ultrasonic sensor function GPIO.output(11,GPIO.LOW) #reset trigger sleep(0.2) GPIO.output(11,GPIO.HIGH) sleep(0.00001) #send a short 0.01ms trigger pulse GPIO.output(11,GPIO.LOW) while GPIO.input(13)==0: start_time= time.time() #save start time while GPIO.input(13)==1: stop_time= time.time() #get the arrival time timeelapsed = stop_time-start_time # multiply with the sound speed (34300 cm/s) obstacle_distance = (timeelapsed *34300)/2 # dis = speed*time speed of sound=343.2m/s . divide by 2 as we half the distance echo travelled #print("distane from object is", obstacle_distance,"cm") return obstacle_distance #distance in cm def forward(): GPIO.output(in1, GPIO.HIGH) GPIO.output(in2, GPIO.LOW) GPIO.output(in3, GPIO.HIGH) GPIO.output(in4, GPIO.LOW) enA.start(40) enB.start(40) def dance(): for i in range(3): GPIO.output(in1, GPIO.HIGH) GPIO.output(in2, GPIO.LOW) GPIO.output(in3, GPIO.HIGH) GPIO.output(in4, GPIO.LOW) enA.start(40) enB.start(40) sleep(1) GPIO.output(in1, GPIO.LOW) GPIO.output(in2, GPIO.HIGH) GPIO.output(in3, GPIO.LOW) GPIO.output(in4, GPIO.HIGH) enA.start(40) enB.start(40) sleep(1) def backwards(): GPIO.output(in1, GPIO.LOW) GPIO.output(in2, GPIO.HIGH) GPIO.output(in3, GPIO.LOW) GPIO.output(in4, GPIO.HIGH) enA.start(50) enB.start(50) def stop(): GPIO.output(in1,GPIO.LOW) GPIO.output(in2,GPIO.LOW) GPIO.output(in3, GPIO.LOW) GPIO.output(in4, GPIO.LOW) def left(): enA.start(50) enB.start(75) GPIO.output(in1,GPIO.HIGH) GPIO.output(in2,GPIO.LOW) GPIO.output(in3, GPIO.LOW) GPIO.output(in4, GPIO.HIGH) def right(): enA.start(75) enB.start(50) GPIO.output(in1,GPIO.LOW) GPIO.output(in2,GPIO.HIGH) GPIO.output(in3, GPIO.HIGH) GPIO.output(in4, GPIO.LOW) def all_lightup(): GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) sleep(0.5) GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) sleep(0.5) GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) def two_lightup(): GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) sleep(0.5) GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) def one_lightup(): GPIO.output(26,GPIO.HIGH) sleep(0.5) GPIO.output(26,GPIO.LOW) def findnameoflandmark(frame1): list=[] results = hands.process(cv2.cvtColor(frame1, cv2.COLOR_BGR2RGB)) if results.multi_hand_landmarks != None: for handLandmarks in results.multi_hand_landmarks: for point in handsModule.HandLandmark: list.append(str(point).replace ("< ","").replace("HandLandmark.", "").replace("_"," ").replace("[]","")) return list stop() with handsModule.Hands(static_image_mode=False, min_detection_confidence=0.7, min_tracking_confidence=0.7, max_num_hands=1) as hands: #Create an infinite loop which will produce the live feed to our desktop and that will search for hands while True: ret, frame = cap.read() #Unedit the below line if your live feed is produced upsidedown #flipped = cv2.flip(frame, flipCode = -1) #Determines the frame size, 640 x 480 offers a nice balance between speed and accurate identification frame1 = cv2.resize(frame, (640, 480)) #produces the hand framework overlay ontop of the hand, you can choose the colour here too) list=[] #initializing position list before calling landmark results = hands.process(cv2.cvtColor(frame1, cv2.COLOR_BGR2RGB)) #Incase the system sees multiple hands this if statment deals with that and produces another hand overlay if results.multi_hand_landmarks != None: for handLandmarks in results.multi_hand_landmarks: drawingModule.draw_landmarks(frame1, handLandmarks, handsModule.HAND_CONNECTIONS) list=[] for id, pt in enumerate (handLandmarks.landmark): x = int(pt.x * w) y = int(pt.y * h) list.append([id,x,y]) #Gets landmarks position # print('list=', list) a = list b= findnameoflandmark(frame1) if len(b and a)!=0: #a[id,x,y]; x,y=[0,0] on top left of the screen; and x,y=[1,1] at the bottom right print('start is working') fingers=[] for id in range(0,4): if tip[id]==8 and mid[id]==6: #index_finger_tip landmark if (a[tip[id]][2:] < a[mid[id]][2:]): fingers.append(1) else: fingers.append(0) if tip[id]==12 and mid[id]==10: #middle_finger_tip landmark if (a[tip[id]][2:] < a[mid[id]][2:]): fingers.append(1) else: fingers.append(0) if tip[id]==16 and mid[id]==14: #ring_finger_tip landmark if (a[tip[id]][2:] < a[mid[id]][2:]): fingers.append(1) else: fingers.append(0) if tip[id]==20 and mid[id]==18: #pinky_finger_tip landmark if (a[tip[id]][2:] < a[mid[id]][2:]): fingers.append(1) else: fingers.append(0) x=fingers c=Counter(x) up=c[1] down=c[0] if x[0] == 1 and x[1]==1 and x[2]==1 and x[3]==1 and forwardcounter==0: print('all up') forwardcounter=forwardcounter+1 all_lightup() forward() sleep(2) if x[0] == 1 and x[1]==1 and x[2]==0 and x[3]==0: #reset guesture # print('index and middle up') forwardcounter=0 secondcounter=0 obstacle_end=0 dancecounter=0 stop() two_lightup() if x[0] == 1 and x[1]==0 and x[2]==0 and x[3]==0 and dancecounter==0: one_lightup() sleep(0.1) dance() dancecounter=dancecounter+1 stop() # else: # stop() thumbs_up=0 elapsed_time =0 start_time=0 if distance() > 40 and forwardcounter==1 and obstacle_end < 1: forward() #sleep(2) if distance() < 40 and forwardcounter==1 and secondcounter < 2: stop() sleep(5) secondcounter=secondcounter+1 print('object detected') print(secondcounter) if secondcounter == 2 and obstacle_end < 1: print("stopping soon") forward() sleep(2) stop() obstacle_end = obstacle_end + 1 #Below shows the current frame to the desktop cv2.imshow("Frame", frame1); key = cv2.waitKey(1) & 0xFF #Below states that if the |q| is press on the keyboard it will stop the system if key == ord("q"): break GPIO.cleanup()