Need with Servo control using Kinect (Hand Tracking) + Processing + Arduino

It is a shame you did not include more comments in your code.

I think it would be most helpful to you and to 'US' if you can go thru the code and add as many comments as you can.

The only thing that jumps out at me is in the following code segment:

      }

    fill(255,0,0);

    ellipse(lastX,lastY,15,15); 

    spos= lastX;

    x= int(lastX);

    println (x);

    port.write("s"+spos);    // reviewer not sure if float value is what is needed/intended to be sent via write

    }

Should the float value spos be cast as type int() before prefixing an "s" to the string being written out to the serial port?

Best of Luck to You.

Am Sorry, i am new to both processing and programming. I have included the comments now

import SimpleOpenNI.*;

import processing.serial.*;

SimpleOpenNI kinect;

Serial port;

float spos=90;

float currentX;

float lastX;

float currentY;

float lastY;

int x;

int y;

float interpolatedX;

float interpolatedY;

ArrayList<PVector> handPositions;

PVector currentHand;

PVector previousHand;

void setup(){

  size (640,480);

  println(Serial.list());

  port = new Serial(this, Serial.list()[0], 19200);

  kinect= new SimpleOpenNI(this);

  kinect.setMirror(true);                                                  // Mirrors the image

  kinect.enableDepth();                                                  // Enable Depth Map Generation

  kinect.enableGesture();                                               // Enables Gesture generation

  kinect.enableHands();                                                 // Enables Hand identification

  kinect.addGesture("RaiseHand");                                // Recignises the Raised Hand Gesture

  handPositions = new ArrayList();                                 // Stores the values from PVector (hand positions over time)

}

void draw(){

  kinect.update();

  image(kinect.depthImage(),0,0);

  for (int i=1;i<handPositions.size();i++){

    currentHand=handPositions.get(i);

    previousHand=handPositions.get(i-1);

    currentX=(currentHand.x);

    lastX=(previousHand.x);   

    currentY=(currentHand.y);

    lastY=(previousHand.y);

    float interpolatedX = lerp(lastX,currentX,0.3f);

    lastX = int(interpolatedX);

    float interpolatedY = lerp(lastY,currentY,0.3f);

    lastY = int(interpolatedY);

    x= int(lastX);

    y= int(lastY);

      }

    fill(255,0,0);

    ellipse(lastX,lastY,15,15); 

// This part of the code has been adapted from the tutorial on the arduino website  http://www.arduino.cc/playground/Learning/SingleServoExample   

spos= lastX/4;                                                  // Calculate the servo position from lastX 

    x= int(lastX);

    println (x);

    port.write("s"+spos);                                         // Output the Servo Positions from 0 to 180

    }

    void onCreateHands(int handId, PVector position, float time){

      kinect.convertRealWorldToProjective(position,position);

      handPositions.add(position);

    }

    void onUpdateHands(int handId, PVector position, float time){

      kinect.convertRealWorldToProjective(position,position);

      handPositions.add(position);

    }

    void onDestroyHands(int handId, float time) {

      handPositions.clear();

      kinect.addGesture("RaiseHand");

    }

    void onRecognizeGesture(String strGesture, PVector idPosition, PVector endPosition) {

      kinect.startTrackingHands(endPosition);

      kinect.removeGesture("RaiseHand");

   }

Am Sorry, i am new to both processing and programming. I have included the comments now

import SimpleOpenNI.*;

import processing.serial.*;

SimpleOpenNI kinect;

Serial port;

float spos=90;

float currentX;

float lastX;

float currentY;

float lastY;

int x;

int y;

float interpolatedX;

float interpolatedY;

ArrayList<PVector> handPositions;

PVector currentHand;

PVector previousHand;

void setup(){

  size (640,480);

  println(Serial.list());

  port = new Serial(this, Serial.list()[0], 19200);

  kinect= new SimpleOpenNI(this);

  kinect.setMirror(true);                                                  // Mirrors the image

  kinect.enableDepth();                                                  // Enable Depth Map Generation

  kinect.enableGesture();                                               // Enables Gesture generation

  kinect.enableHands();                                                 // Enables Hand identification

  kinect.addGesture("RaiseHand");                                // Recignises the Raised Hand Gesture

  handPositions = new ArrayList();                                 // Stores the values from PVector (hand positions over time)

}

void draw(){

  kinect.update();

  image(kinect.depthImage(),0,0);

  for (int i=1;i<handPositions.size();i++){

    currentHand=handPositions.get(i);

    previousHand=handPositions.get(i-1);

    currentX=(currentHand.x);

    lastX=(previousHand.x);   

    currentY=(currentHand.y);

    lastY=(previousHand.y);

    float interpolatedX = lerp(lastX,currentX,0.3f);

    lastX = int(interpolatedX);

    float interpolatedY = lerp(lastY,currentY,0.3f);

    lastY = int(interpolatedY);

    x= int(lastX);

    y= int(lastY);

      }

    fill(255,0,0);

    ellipse(lastX,lastY,15,15); 

// This part of the code has been adapted from the tutorial on the arduino website  http://www.arduino.cc/playground/Learning/SingleServoExample   

spos= lastX/4;                                                  // Calculate the servo position from lastX 

    x= int(lastX);

    println (x);

    port.write("s"+spos);                                         // Output the Servo Positions from 0 to 180

    }

    void onCreateHands(int handId, PVector position, float time){

      kinect.convertRealWorldToProjective(position,position);

      handPositions.add(position);

    }

    void onUpdateHands(int handId, PVector position, float time){

      kinect.convertRealWorldToProjective(position,position);

      handPositions.add(position);

    }

    void onDestroyHands(int handId, float time) {

      handPositions.clear();

      kinect.addGesture("RaiseHand");

    }

    void onRecognizeGesture(String strGesture, PVector idPosition, PVector endPosition) {

      kinect.startTrackingHands(endPosition);

      kinect.removeGesture("RaiseHand");

   }

//Output the servo position ( from 0 to 180)

port.write("s"+spos);

as found on : http://rouvelle.com/rai_sp_12/

Can you be a little be more accurate on how your servo is moving and possibly

investigate the range of values allowed for spos?

I adapted that piece of the code from herehttp://www.arduino.cc/playground/Learning/SingleServoExample

Well ummmmm, you see we have this 640x480 window

When my hand moves towards the left, the motor also rotates and stops when i reach "0" and when i move my hand towards the right then the motor turns in the opposite direction and stops when my hand reaches "640".

Basically the program is the same as in http://www.arduino.cc/playground/Learning/SingleServoExample here the X-cordinates from the mouse is used to control the motor while i use the X coordinate from the Hand tracking to control the motor