Quote from Matoo robot on 2024年6月25日, pm2:03

借助与加速度计传感器相对应的手势，轮椅将移动

项目介绍

$ https://drive.google.com/open?id=1RNI2ehaknWPN0lPpKm8wv95DUVcTr8H6$ 

https://youtu.be/cTM9TjZSIBI

•印度农村和城市地区的残疾人比例都有所增加。残疾可能是由于出生或由于某种医疗或意外原因造成的。

•该项目的目的是制作一个手势控制轮椅，并使用加速度计作为传感器，帮助身体残疾的人从一个地方移动到另一个地方，只需用手指示

•今天在印度，许多人患有残疾，有些人的下半身瘫痪了。这款轮椅将增加舒适度，使人们的生活更轻松

接收机代码

#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);
    }
  }
}

发射机代码

#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));
}

电路图

轮椅

手套电路图