Digital Pins Analog Input Pins Pull-Up Resistors Arduino Shields
Arduino IDE
7 ,
7 7 8
9 10
Serial Monitor Arduino
5
Language
11 12
ThesetupO Function
12
The
13
loopO Function
Variables
13
Variable Declaration and Initialization
13
Variable
14
Scope
vii
li
CONTENTS
15
Your First Arduino Project Breadboard
15
Building the Circuit Programming the Arduino
16
The
17 17
setupO Function
18
The loopO Function Circuit
18
Diagrams
Fritzing
18
Electronic Symbols
20
Electricity
20
AC/DC
21
Ohms Law
21
Joule's Law
21
Summary
22
m Chapter 2: Kinect Basics
23
A Brief History of the Kinect
25
Hacking the Kinect
25
Official Frameworks
25
The Kinect Sensor.....
.........
.—..
..
26
...
27
Positioning your Kinect Kinect RGB
Capabilities
27
Image
27
Image
28
Depth Map
28
IR
Hand and Skeleton
28
Tracking
Kinect Drivers and Frameworks
28
OpenKinect: Libfreenect Drivers
28
PrimeSense: OpenNI and NITE
29
OpenNI
29
NITE
30 30
Microsoft Kinect for Windows Kinect
Theory
Structured-Light 3D Scanning
viii
.
31 31
CONTENTS
Converting
the
Light Coding Image to
a
Depth Map
33
Kinect Alternative: ASUS Xtion PRO
33
Summary
34
Chapter 3: Processing.... Processing Language Installing Processing
35
Processing IDE
37
A First Processing Sketch
38
Processing Variables Variable Scope Structure of a Processing Sketch setupO Function drawO Function Processing Libraries Simple-OpenNI
38
M
Installing Simple-OpenNI Installation on Windows Installation in Mac OS X Installation on Linux
Accessing the Depth Map and RGB Image.—.—.
36
36
38 38 38
39 40 41 41
42 42 43
.—.......................44
The Third Dimension
46
Processing in 3D
46
Matrix Transforms
47
Camera Control Libraries
50
KinectOrbit Example
50
Kinect
Space
Linear and Two-Dimensional Arrays
52
54
Coloring the Point Cloud
55
NITE Functions
56
Hand Tracking Skeleton
Summary
Tracking
57 58
60
CONTENTS
m Chapter 4: Arduino and Kinect: "Hello World"
61
Parts List for Hello World
62
Serial Communication
62
Serial-Controlled LED
63 65
Pulse Width Modulation PWM-Controlled LED
Writing Your
65
Own Communication Protocol
Serial-Controlled LEDs
67
Kinect-Controlled LEDs
69
Feedback from Arduino
72
Summary
76
Chapter 5: Kinect Remote Control
77
Parts List for Kinect Remote Control
77
Hacking a Remote Control Connecting the Remote to Arduino
78
H
Assembling the Prototype
80 83
Shield
86
Testing the Circuit Kinect Hand
Tracking and
Gesture
Recognition
89
Libraries and Setup
89
NITE Callbacks
91
Draw
Loop and Other Functions
Connecting the Processing Sketch to Arduino Summary m Chapter 6: Kinect Networked Puppet The
X
67
Puppet
93 97 97 99
100
Servos
100
Building the Stage
103
Building the Puppet
105
Building the Circuit
108
Testing the Servos
113
Setting the Servos to the Starting Position
115
CONTENTS
H
Skeleton
118
Tracking On-Screen
119
Simple-OpenNI Events Angle Calculation
121
Network Communication
124
Communicating Within a Local Network Communicating over the Internet Server Applet: Sending the Angles over Client Applet: Controlling the Puppet
124 125 a
125
Network
127
130
Final Arduino Code
Summary
•
132
Chapter 7: Mood Lamps RGB Color Space
133
Arduino Nano
135
Building the
134
136
Circuit
139
Resistors
Understanding
140
Resistor Color Codes
142
Testing the Circuit XBee Wireless Module Arduino The
.145
.'.
149
Programming.
Lamp Class
Object-Oriented Programming
,
150 150
Class Declaration
151
Field
151
Description
Constructor.
152
Methods
152
User Control Sketch
154
Variable Declaration
154
SetupO Function
154
DrawO Function
155
User Control
157
Lamp Control Lamp Creation Data
Storage and Retrieval
157 159
160
xi
m CONTENTS
Serial Communication
161
Display Functions Simple-OpenNI Callbacks Summary
161 163 164
Chapter 8: Kinect-Driven Drawing Robot Building the Robot II
170
Parti
170
Part 2
171
Part 3
172
The Base
174
Building the Circuit
175
Testing the Circuit
176
Firmata and the Arduino
Library for Processing
Servo Test Robot Simulation
176 176
177
Angle Measuring Program
179
Robot Simulation Program
180
Driving the Physical Robot Kinect: Tangible Table Interface Calibrating the Point Cloud Rotation Equations Rotating the Point Cloud Point Cloud Filtering Finding the Finger Position
183
185 187
188 189 194 195
Virtual Robot Model
198
Polishing the Input The Drawing Robot in Action Summary
201
Chapter 9: Kinect Remote-Controlled Vehicles Electrical Motors and the H-Bridge Hacking a Car Building the Circuit M
xii
167
204 206 207
208 210
212
m CONTENTS
Testing the Circuit
216
Setup Function
218
Draw Function
218 220
DrawVector Function Car Function SendSerial Function Arduino
220 221
Testing Sketch Setup Function
222
Loop Function
222
Turning Functions
223
Move Functions
224
Enable/Disable Functions
Proximity Setup Function Loop Function Sensors
Move Functions
222
224 224 229 229
230
XBee and Wireless
230
Kinect RC Interface
232
Setup Function
234
Draw Function
235
Other Functions
236 241
Summary M
Chapter 10: Biometric Station
Hacking
a
Bathroom Scale
Seven-Segment LCD Hacking the LCD Acquiring the LCD Signal Reading the LCD Signal Sending the Signal to Processing
Decoding the LCD Signal Using the Weight Data Implementing the Biometric Recognition Imports and Variable Declaration Setup Function
243 244
245 246 249 250
254 256
259 261 261 262
xiii
*S
CONTENTS
User Interface
263
Draw Function
265
Additional Functions
266
New User
266
Updating User Data Updating User Height
267
Saving the User User Recognition
270
Reading and Drawing the Chart Graphic Output
273
Serial Event
276 276
268 270 275
Simple-OpenNI User Events
277
Summary m
Chapter 11:3D Modeling Interface
The Interface
280
Arduino LilyPad
282
Flex Sensors
.
283
Sewing the Circuit
284
Testing the Circuit
..287
Arduino Serial Sender
287
Processing Glove Data Receiver
287
Going Wireless
289
LilyPad XBee
289
SoftwareSerial Library
290
Wireless Arduino Code
290
Implementing the Modeling Interface The Glovelnterface Class
Setter Functions Functions
Display Calibrating
the Interface
Geometric Classes
xiv
279
292 292 293
294 295 296
Point Class
296
Line Class
298
Shape Class
298
IB
Modeling Interface Main Program Imports and Fields Setup Function
