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Commit cd8210f

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+ MicromlGestureIdentificationExample
1 parent 1509c9a commit cd8210f

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4 files changed

+143
-5
lines changed

4 files changed

+143
-5
lines changed

‎.idea/workspace.xml‎

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#include "imu.h"
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//#include "model.h"
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#define NUM_SAMPLES 30
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#define NUM_AXES 3
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#define TRUNCATE 20
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#define ACCEL_THRESHOLD 5
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#define INTERVAL 30
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double baseline[NUM_AXES];
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double features[NUM_SAMPLES * NUM_AXES];
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void setup() {
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Serial.begin(115200);
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imu_setup();
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calibrate();
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}
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void loop() {
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float ax, ay, az;
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imu_read(&ax, &ay, &az);
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ax = constrain(ax - baseline[0], -TRUNCATE, TRUNCATE);
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ay = constrain(ay - baseline[1], -TRUNCATE, TRUNCATE);
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az = constrain(az - baseline[2], -TRUNCATE, TRUNCATE);
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if (!motionDetected(ax, ay, az)) {
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delay(10);
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return;
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}
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recordIMU();
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printFeatures();
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// un-comment to run classification
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// classify();
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delay(2000);
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}
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/**
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* "Zero" the readings
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*/
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void calibrate() {
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float ax, ay, az;
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for (int i = 0; i < 10; i++) {
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imu_read(&ax, &ay, &az);
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delay(100);
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}
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baseline[0] = ax;
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baseline[1] = ay;
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baseline[2] = az;
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}
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/**
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* Detect if motion is happening
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* @return
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*/
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bool motionDetected(float ax, float ay, float az) {
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return (abs(ax) + abs(ay) + abs(az)) > ACCEL_THRESHOLD;
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}
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/**
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* Fill the feature vector
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*/
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void recordIMU() {
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float ax, ay, az;
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for (int i = 0; i < NUM_SAMPLES; i++) {
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imu_read(&ax, &ay, &az);
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ax = constrain(ax - baseline[0], -TRUNCATE, TRUNCATE);
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ay = constrain(ay - baseline[1], -TRUNCATE, TRUNCATE);
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az = constrain(az - baseline[2], -TRUNCATE, TRUNCATE);
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features[i * NUM_AXES + 0] = ax;
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features[i * NUM_AXES + 1] = ay;
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features[i * NUM_AXES + 2] = az;
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delay(INTERVAL);
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}
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}
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/**
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* Dump the feature vector to Serial monitor
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*/
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void printFeatures() {
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const uint16_t numFeatures = sizeof(features) / sizeof(double);
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for (int i = 0; i < numFeatures; i++) {
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Serial.print(features[i]);
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Serial.print(i == numFeatures - 1 ? '\n' : ',');
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}
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}
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/**
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*
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*/
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void classify() {
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Serial.print("Detected gesture: ");
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Serial.println(classIdxToName(predict(features)));
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}
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#include <Wire.h>
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// library from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
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#include <MPU6050.h>
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#define OUTPUT_READABLE_ACCELGYRO
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MPU6050 imu;
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void imu_setup() {
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Wire.begin();
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imu.initialize();
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}
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void imu_read(float *ax, float *ay, float *az) {
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float gx, gy, gz;
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imu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
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}
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#include <Wire.h>
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// library from https://github.com/bolderflight/MPU9250
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#include <MPU9250.h>
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MPU9250 imu(Wire, 0x68);
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void imu_setup() {
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Wire.begin();
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imu.begin();
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}
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void imu_read(float *ax, float *ay, float *az) {
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imu.readSensor();
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*ax = imu.getAccelX_mss();
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*ay = imu.getAccelY_mss();
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*az = imu.getAccelZ_mss();
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}

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