Gesture PAJ7620 library help



  • Hi Pycom team,
    i have one grove gesture PAJ7620 module. i like to interface it with lopy module. I have rewrite the module library given for raspberry pi. But unfortunately, it shows initialization error. Please need help from experts. Here is the error note0_1498580101627_Error.jpg

    and here is the code

    #!/usr/bin/env python
    #
    # GrovePi Library for using the Grove - Gesture Sensor v1.0(http://www.seeedstudio.com/depot/Grove-Gesture-p-2463.html)
    #
    # The GrovePi connects the Raspberry Pi and Grove sensors.  You can learn more about GrovePi here:  http://www.dexterindustries.com/GrovePi
    #
    # Have a question about this library?  Ask on the forums here:  http://forum.dexterindustries.com/c/grovepi
    #
    # History
    # ------------------------------------------------
    # Author	Date      		Comments
    # Karan		31 Dec 15	  	Initial Authoring
    #
    # Code derived from the basic Arduino library for the Gesture Sensor by Seeed: https://github.com/Seeed-Studio/Gesture_PAJ7620
    '''
    ## License
    
    The MIT License (MIT)
    
    GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
    Copyright (C) 2017  Dexter Industries
    
    Permission is hereby granted, free of charge, to any person obtaining a copy
    of this software and associated documentation files (the "Software"), to deal
    in the Software without restriction, including without limitation the rights
    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
    copies of the Software, and to permit persons to whom the Software is
    furnished to do so, subject to the following conditions:
    
    The above copyright notice and this permission notice shall be included in
    all copies or substantial portions of the Software.
    
    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
    THE SOFTWARE.
    '''
    
    import time
    import machine
    #import RPi.GPIO as GPIO
    #import smbus, sys
    
    # use the bus that matches your raspi version
    '''rev = GPIO.RPI_REVISION
    if rev == 2 or rev == 3:
        bus = smbus.SMBus(1)
    else:
        bus = smbus.SMBus(0)
    '''
    	#Registers and variables for the gesture sensor
    GES_REACTION_TIME		=0.5				# You can adjust the reaction time according to the actual circumstance.
    GES_ENTRY_TIME			=0.8				# When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than GES_ENTRY_TIME(0.8s).
    GES_QUIT_TIME			=1.0
    
    BANK0 = 0
    BANK1 = 1
    
    PAJ7620_ADDR_BASE =0x00
    #REGISTER BANK SELECT
    PAJ7620_REGITER_BANK_SEL		=(PAJ7620_ADDR_BASE + 0xEF)	#W
    #DEVICE ID
    PAJ7620_ID  =0x73
    
    #REGISTER BANK 0
    PAJ7620_ADDR_SUSPEND_CMD		=(PAJ7620_ADDR_BASE + 0x3)	#W
    PAJ7620_ADDR_GES_PS_DET_MASK_0	=(PAJ7620_ADDR_BASE + 0x41)	#RW
    PAJ7620_ADDR_GES_PS_DET_MASK_1	=(PAJ7620_ADDR_BASE + 0x42)	#RW
    PAJ7620_ADDR_GES_PS_DET_FLAG_0	=(PAJ7620_ADDR_BASE + 0x43)	#R
    PAJ7620_ADDR_GES_PS_DET_FLAG_1	=(PAJ7620_ADDR_BASE + 0x44)	#R
    PAJ7620_ADDR_STATE_INDICATOR	=(PAJ7620_ADDR_BASE + 0x45)	#R
    PAJ7620_ADDR_PS_HIGH_THRESHOLD	=(PAJ7620_ADDR_BASE + 0x69)	#RW
    PAJ7620_ADDR_PS_LOW_THRESHOLD	=(PAJ7620_ADDR_BASE + 0x6A)	#RW
    PAJ7620_ADDR_PS_APPROACH_STATE	=(PAJ7620_ADDR_BASE + 0x6B)	#R
    PAJ7620_ADDR_PS_RAW_DATA		=(PAJ7620_ADDR_BASE + 0x6C)	#R
    
    #REGISTER BANK 1
    PAJ7620_ADDR_PS_GAIN			=(PAJ7620_ADDR_BASE + 0x44)	#RW
    PAJ7620_ADDR_IDLE_S1_STEP_0		=(PAJ7620_ADDR_BASE + 0x67)	#RW
    PAJ7620_ADDR_IDLE_S1_STEP_1		=(PAJ7620_ADDR_BASE + 0x68)	#RW
    PAJ7620_ADDR_IDLE_S2_STEP_0		=(PAJ7620_ADDR_BASE + 0x69)	#RW
    PAJ7620_ADDR_IDLE_S2_STEP_1		=(PAJ7620_ADDR_BASE + 0x6A)	#RW
    PAJ7620_ADDR_OP_TO_S1_STEP_0	=(PAJ7620_ADDR_BASE + 0x6B)	#RW
    PAJ7620_ADDR_OP_TO_S1_STEP_1	=(PAJ7620_ADDR_BASE + 0x6C)	#RW
    PAJ7620_ADDR_OP_TO_S2_STEP_0	=(PAJ7620_ADDR_BASE + 0x6D)	#RW
    PAJ7620_ADDR_OP_TO_S2_STEP_1	=(PAJ7620_ADDR_BASE + 0x6E)	#RW
    PAJ7620_ADDR_OPERATION_ENABLE	=(PAJ7620_ADDR_BASE + 0x72)	#RW
    
    #PAJ7620_REGITER_BANK_SEL
    PAJ7620_BANK0=0
    PAJ7620_BANK1=1
    
    #PAJ7620_ADDR_SUSPEND_CMD
    PAJ7620_I2C_WAKEUP	=1
    PAJ7620_I2C_SUSPEND	=0
    
    #PAJ7620_ADDR_OPERATION_ENABLE
    PAJ7620_ENABLE=1
    PAJ7620_DISABLE=0
    
    #ADC, delete
    REG_ADDR_RESULT = 0x00
    REG_ADDR_ALERT  = 0x01
    REG_ADDR_CONFIG = 0x02
    REG_ADDR_LIMITL = 0x03
    REG_ADDR_LIMITH = 0x04
    REG_ADDR_HYST   = 0x05
    REG_ADDR_CONVL  = 0x06
    REG_ADDR_CONVH  = 0x07
    
    GES_RIGHT_FLAG              =1<<0
    GES_LEFT_FLAG               =1<<1
    GES_UP_FLAG					=1<<2
    GES_DOWN_FLAG				=1<<3
    GES_FORWARD_FLAG			=1<<4
    GES_BACKWARD_FLAG			=1<<5
    GES_CLOCKWISE_FLAG			=1<<6
    GES_COUNT_CLOCKWISE_FLAG	=1<<7
    GES_WAVE_FLAG				=1<<0
    
    #Gesture output
    FORWARD 		= 1
    BACKWARD 		= 2
    RIGHT			= 3
    LEFT			= 4
    UP				= 5
    DOWN			= 6
    CLOCKWISE		= 7
    ANTI_CLOCKWISE	= 8
    WAVE			= 9
    
    #Initial register state
    initRegisterArray=(	[0xEF,0x00],
    						[0x32,0x29],
    						[0x33,0x01],
    						[0x34,0x00],
    						[0x35,0x01],
    						[0x36,0x00],
    						[0x37,0x07],
    						[0x38,0x17],
    						[0x39,0x06],
    						[0x3A,0x12],
    						[0x3F,0x00],
    						[0x40,0x02],
    						[0x41,0xFF],
    						[0x42,0x01],
    						[0x46,0x2D],
    						[0x47,0x0F],
    						[0x48,0x3C],
    						[0x49,0x00],
    						[0x4A,0x1E],
    						[0x4B,0x00],
    						[0x4C,0x20],
    						[0x4D,0x00],
    						[0x4E,0x1A],
    						[0x4F,0x14],
    						[0x50,0x00],
    						[0x51,0x10],
    						[0x52,0x00],
    						[0x5C,0x02],
    						[0x5D,0x00],
    						[0x5E,0x10],
    						[0x5F,0x3F],
    						[0x60,0x27],
    						[0x61,0x28],
    						[0x62,0x00],
    						[0x63,0x03],
    						[0x64,0xF7],
    						[0x65,0x03],
    						[0x66,0xD9],
    						[0x67,0x03],
    						[0x68,0x01],
    						[0x69,0xC8],
    						[0x6A,0x40],
    						[0x6D,0x04],
    						[0x6E,0x00],
    						[0x6F,0x00],
    						[0x70,0x80],
    						[0x71,0x00],
    						[0x72,0x00],
    						[0x73,0x00],
    						[0x74,0xF0],
    						[0x75,0x00],
    						[0x80,0x42],
    						[0x81,0x44],
    						[0x82,0x04],
    						[0x83,0x20],
    						[0x84,0x20],
    						[0x85,0x00],
    						[0x86,0x10],
    						[0x87,0x00],
    						[0x88,0x05],
    						[0x89,0x18],
    						[0x8A,0x10],
    						[0x8B,0x01],
    						[0x8C,0x37],
    						[0x8D,0x00],
    						[0x8E,0xF0],
    						[0x8F,0x81],
    						[0x90,0x06],
    						[0x91,0x06],
    						[0x92,0x1E],
    						[0x93,0x0D],
    						[0x94,0x0A],
    						[0x95,0x0A],
    						[0x96,0x0C],
    						[0x97,0x05],
    						[0x98,0x0A],
    						[0x99,0x41],
    						[0x9A,0x14],
    						[0x9B,0x0A],
    						[0x9C,0x3F],
    						[0x9D,0x33],
    						[0x9E,0xAE],
    						[0x9F,0xF9],
    						[0xA0,0x48],
    						[0xA1,0x13],
    						[0xA2,0x10],
    						[0xA3,0x08],
    						[0xA4,0x30],
    						[0xA5,0x19],
    						[0xA6,0x10],
    						[0xA7,0x08],
    						[0xA8,0x24],
    						[0xA9,0x04],
    						[0xAA,0x1E],
    						[0xAB,0x1E],
    						[0xCC,0x19],
    						[0xCD,0x0B],
    						[0xCE,0x13],
    						[0xCF,0x64],
    						[0xD0,0x21],
    						[0xD1,0x0F],
    						[0xD2,0x88],
    						[0xE0,0x01],
    						[0xE1,0x04],
    						[0xE2,0x41],
    						[0xE3,0xD6],
    						[0xE4,0x00],
    						[0xE5,0x0C],
    						[0xE6,0x0A],
    						[0xE7,0x00],
    						[0xE8,0x00],
    						[0xE9,0x00],
    						[0xEE,0x07],
    						[0xEF,0x01],
    						[0x00,0x1E],
    						[0x01,0x1E],
    						[0x02,0x0F],
    						[0x03,0x10],
    						[0x04,0x02],
    						[0x05,0x00],
    						[0x06,0xB0],
    						[0x07,0x04],
    						[0x08,0x0D],
    						[0x09,0x0E],
    						[0x0A,0x9C],
    						[0x0B,0x04],
    						[0x0C,0x05],
    						[0x0D,0x0F],
    						[0x0E,0x02],
    						[0x0F,0x12],
    						[0x10,0x02],
    						[0x11,0x02],
    						[0x12,0x00],
    						[0x13,0x01],
    						[0x14,0x05],
    						[0x15,0x07],
    						[0x16,0x05],
    						[0x17,0x07],
    						[0x18,0x01],
    						[0x19,0x04],
    						[0x1A,0x05],
    						[0x1B,0x0C],
    						[0x1C,0x2A],
    						[0x1D,0x01],
    						[0x1E,0x00],
    						[0x21,0x00],
    						[0x22,0x00],
    						[0x23,0x00],
    						[0x25,0x01],
    						[0x26,0x00],
    						[0x27,0x39],
    						[0x28,0x7F],
    						[0x29,0x08],
    						[0x30,0x03],
    						[0x31,0x00],
    						[0x32,0x1A],
    						[0x33,0x1A],
    						[0x34,0x07],
    						[0x35,0x07],
    						[0x36,0x01],
    						[0x37,0xFF],
    						[0x38,0x36],
    						[0x39,0x07],
    						[0x3A,0x00],
    						[0x3E,0xFF],
    						[0x3F,0x00],
    						[0x40,0x77],
    						[0x41,0x40],
    						[0x42,0x00],
    						[0x43,0x30],
    						[0x44,0xA0],
    						[0x45,0x5C],
    						[0x46,0x00],
    						[0x47,0x00],
    						[0x48,0x58],
    						[0x4A,0x1E],
    						[0x4B,0x1E],
    						[0x4C,0x00],
    						[0x4D,0x00],
    						[0x4E,0xA0],
    						[0x4F,0x80],
    						[0x50,0x00],
    						[0x51,0x00],
    						[0x52,0x00],
    						[0x53,0x00],
    						[0x54,0x00],
    						[0x57,0x80],
    						[0x59,0x10],
    						[0x5A,0x08],
    						[0x5B,0x94],
    						[0x5C,0xE8],
    						[0x5D,0x08],
    						[0x5E,0x3D],
    						[0x5F,0x99],
    						[0x60,0x45],
    						[0x61,0x40],
    						[0x63,0x2D],
    						[0x64,0x02],
    						[0x65,0x96],
    						[0x66,0x00],
    						[0x67,0x97],
    						[0x68,0x01],
    						[0x69,0xCD],
    						[0x6A,0x01],
    						[0x6B,0xB0],
    						[0x6C,0x04],
    						[0x6D,0x2C],
    						[0x6E,0x01],
    						[0x6F,0x32],
    						[0x71,0x00],
    						[0x72,0x01],
    						[0x73,0x35],
    						[0x74,0x00],
    						[0x75,0x33],
    						[0x76,0x31],
    						[0x77,0x01],
    						[0x7C,0x84],
    						[0x7D,0x03],
    						[0x7E,0x01])
    
    	#Enable debug message
    debug=0
    
    class gesture(self):
        #Initialize the sensors
    	def __init__(self, i2c):
            self.i2c=i2c
            self.address=PAJ7620_ID
    		time.sleep(.001)
    		self.paj7620SelectBank(BANK0)
    		self.paj7620SelectBank(BANK0)
    
    		data0 = self.paj7620ReadReg(0, 1)[0]
    		data1 = self.paj7620ReadReg(1, 1)[0]
    		if self.debug:
    			print("data0:",data0,"data1:",data1)
    		if data0 != 0x20  :#or data1 <> 0x76:
    			print("Error with sensor")
    			#return 0xff
    		if data0 == 0x20:
    			print("wake-up finish.")
    
    		for i in range(len(initRegisterArray)):
    			self.paj7620WriteReg(initRegisterArray[i][0],initRegisterArray[i][1])
    
    		self.paj7620SelectBank(BANK0)
    
    		print("Paj7620 initialize register finished.")
    
    	#Write a byte to a register on the Gesture sensor
    	def paj7620WriteReg(self,addr,cmd):
    		self.i2c.writeto_mem(self.address, addr, cmd)
    
    	#Select a register bank on the Gesture Sensor
    	def paj7620SelectBank(self,bank):
    		if bank==BANK0:
    			self.paj7620WriteReg(PAJ7620_REGITER_BANK_SEL,PAJ7620_BANK0)
    
    	#Read a block of bytes of length "qty" starting at address "addr" from the Gesture sensor
    	def paj7620ReadReg(self,addr,qty):
    		return self.i2c.readfrom_mem(self.address, addr,qty)
    
    	#Print the values from the gesture sensor
    	def print_gesture(self):
    		data=self.paj7620ReadReg(0x43,1)[0]
    		if data==GES_RIGHT_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				print("Forward")
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				print("Backward")
    				time.sleep(GES_QUIT_TIME)
    			else:
    				print("Right")
    
    		elif data==GES_LEFT_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				print("Forward")
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				print("Backward")
    				time.sleep(GES_QUIT_TIME)
    			else:
    				print("Left")
    
    		elif data==GES_UP_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				print("Forward")
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				print("Backward")
    				time.sleep(GES_QUIT_TIME)
    			else:
    				print("Up")
    
    		elif data==GES_DOWN_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				print("Forward")
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				print("Backward")
    				time.sleep(GES_QUIT_TIME)
    			else:
    				print("Down")
    
    		elif data==GES_FORWARD_FLAG:
    			print("Forward")
    			time.sleep(GES_QUIT_TIME)
    
    		elif data==GES_BACKWARD_FLAG:
    			print("Backward")
    			time.sleep(GES_QUIT_TIME)
    
    		elif data==GES_CLOCKWISE_FLAG:
    			print("Clockwise")
    
    		elif data==GES_COUNT_CLOCKWISE_FLAG:
    			print("anti-clockwise")
    
    		else:
    			data1=self.paj7620ReadReg(0x44, 1)[0]
    			if (data1 ==GES_WAVE_FLAG):
    				print("wave")
    
    	#Return a vlaue from the gestire sensor which can be used in a program
    	# 	0:nothing
    	# 	1:Forward
    	# 	2:Backward
    	# 	3:Right
    	# 	4:Left
    	# 	5:Up
    	# 	6:Down
    	# 	7:Clockwise
    	# 	8:anti-clockwise
    	# 	9:wave
    	def return_gesture(self):
    
    		data=self.paj7620ReadReg(0x43,1)[0]
    		if data==GES_RIGHT_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				return 1
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				return 2
    				time.sleep(GES_QUIT_TIME)
    			else:
    				return 3
    
    		elif data==GES_LEFT_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				return 1
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				return 2
    				time.sleep(GES_QUIT_TIME)
    			else:
    				return 4
    
    		elif data==GES_UP_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				return 1
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				return 2
    				time.sleep(GES_QUIT_TIME)
    			else:
    				return 5
    
    		elif data==GES_DOWN_FLAG:
    			time.sleep(GES_ENTRY_TIME)
    			data=self.paj7620ReadReg(0x43, 1)[0]
    			if data == GES_FORWARD_FLAG:
    				return 1
    				time.sleep(GES_QUIT_TIME)
    			elif data == GES_BACKWARD_FLAG:
    				return 2
    				time.sleep(GES_QUIT_TIME)
    			else:
    				return 6
    
    		elif data==GES_FORWARD_FLAG:
    			return 1
    			time.sleep(GES_QUIT_TIME)
    
    		elif data==GES_BACKWARD_FLAG:
    			return 2
    			time.sleep(GES_QUIT_TIME)
    
    		elif data==GES_CLOCKWISE_FLAG:
    			return 7
    
    		elif data==GES_COUNT_CLOCKWISE_FLAG:
    			return 8
    
    		else:
    			data1=self.paj7620ReadReg(0x44, 1)[0]
    			if (data1 == GES_WAVE_FLAG):
    				return 9
    		return 0
    
    '''
    if __name__ == "__main__":
    	g=gesture()
    	g.init()
    	while True:
    		g.print_gesture()
    		time.sleep(.1)
    		# print g.return_gesture()
    		# time.sleep(.1)
    '''
    

    @LOPY @ MICROPYTHON



  • Library for Grove Gesture Sensor. Here is the link

    https://github.com/rafi021/Pycom-module-Example.git



  • @mahmud021
    You have not priviledge to upload files
    I have upvoted your 2 posts - try again to upload file - or simply put content using formatting ```
    here is full forum formatting
    http://commonmark.org/help/



  • This post is deleted!


  • Hi team,
    Thanks all of you. I have solved the problem.



  • @mahmud021 There seems to be a mix of tabs and spaces in the file. Please replace all tabs by spaces. That's what cuased the error.
    Besides that, the statement:

    class gesture(self):

    seems odd. I would have expected just

    class gesture:



  • @mahmud021
    better will be adding link for lib
    or post few lines and mark which line is 362

    PS. formating post rules:
    http://commonmark.org/help/


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