├── .gitignore ├── LICENSE ├── README.md ├── arduino.js ├── docs ├── arduino_firmata.png └── leap_enable_ws.png ├── leap-arduino.js ├── leap-gestures.js ├── leap-range.js ├── leap.js ├── leap.json ├── package.json ├── servo.js └── six-servos.js /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | node_modules/ 3 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Mozilla Public License Version 2.0 2 | ================================== 3 | 4 | 1. Definitions 5 | -------------- 6 | 7 | 1.1. "Contributor" 8 | means each individual or legal entity that creates, contributes to 9 | the creation of, or owns Covered Software. 10 | 11 | 1.2. "Contributor Version" 12 | means the combination of the Contributions of others (if any) used 13 | by a Contributor and that particular Contributor's Contribution. 14 | 15 | 1.3. "Contribution" 16 | means Covered Software of a particular Contributor. 17 | 18 | 1.4. "Covered Software" 19 | means Source Code Form to which the initial Contributor has attached 20 | the notice in Exhibit A, the Executable Form of such Source Code 21 | Form, and Modifications of such Source Code Form, in each case 22 | including portions thereof. 23 | 24 | 1.5. "Incompatible With Secondary Licenses" 25 | means 26 | 27 | (a) that the initial Contributor has attached the notice described 28 | in Exhibit B to the Covered Software; or 29 | 30 | (b) that the Covered Software was made available under the terms of 31 | version 1.1 or earlier of the License, but not also under the 32 | terms of a Secondary License. 33 | 34 | 1.6. "Executable Form" 35 | means any form of the work other than Source Code Form. 36 | 37 | 1.7. "Larger Work" 38 | means a work that combines Covered Software with other material, in 39 | a separate file or files, that is not Covered Software. 40 | 41 | 1.8. "License" 42 | means this document. 43 | 44 | 1.9. "Licensable" 45 | means having the right to grant, to the maximum extent possible, 46 | whether at the time of the initial grant or subsequently, any and 47 | all of the rights conveyed by this License. 48 | 49 | 1.10. "Modifications" 50 | means any of the following: 51 | 52 | (a) any file in Source Code Form that results from an addition to, 53 | deletion from, or modification of the contents of Covered 54 | Software; or 55 | 56 | (b) any new file in Source Code Form that contains any Covered 57 | Software. 58 | 59 | 1.11. "Patent Claims" of a Contributor 60 | means any patent claim(s), including without limitation, method, 61 | process, and apparatus claims, in any patent Licensable by such 62 | Contributor that would be infringed, but for the grant of the 63 | License, by the making, using, selling, offering for sale, having 64 | made, import, or transfer of either its Contributions or its 65 | Contributor Version. 66 | 67 | 1.12. "Secondary License" 68 | means either the GNU General Public License, Version 2.0, the GNU 69 | Lesser General Public License, Version 2.1, the GNU Affero General 70 | Public License, Version 3.0, or any later versions of those 71 | licenses. 72 | 73 | 1.13. "Source Code Form" 74 | means the form of the work preferred for making modifications. 75 | 76 | 1.14. "You" (or "Your") 77 | means an individual or a legal entity exercising rights under this 78 | License. For legal entities, "You" includes any entity that 79 | controls, is controlled by, or is under common control with You. For 80 | purposes of this definition, "control" means (a) the power, direct 81 | or indirect, to cause the direction or management of such entity, 82 | whether by contract or otherwise, or (b) ownership of more than 83 | fifty percent (50%) of the outstanding shares or beneficial 84 | ownership of such entity. 85 | 86 | 2. License Grants and Conditions 87 | -------------------------------- 88 | 89 | 2.1. Grants 90 | 91 | Each Contributor hereby grants You a world-wide, royalty-free, 92 | non-exclusive license: 93 | 94 | (a) under intellectual property rights (other than patent or trademark) 95 | Licensable by such Contributor to use, reproduce, make available, 96 | modify, display, perform, distribute, and otherwise exploit its 97 | Contributions, either on an unmodified basis, with Modifications, or 98 | as part of a Larger Work; and 99 | 100 | (b) under Patent Claims of such Contributor to make, use, sell, offer 101 | for sale, have made, import, and otherwise transfer either its 102 | Contributions or its Contributor Version. 103 | 104 | 2.2. Effective Date 105 | 106 | The licenses granted in Section 2.1 with respect to any Contribution 107 | become effective for each Contribution on the date the Contributor first 108 | distributes such Contribution. 109 | 110 | 2.3. Limitations on Grant Scope 111 | 112 | The licenses granted in this Section 2 are the only rights granted under 113 | this License. No additional rights or licenses will be implied from the 114 | distribution or licensing of Covered Software under this License. 115 | Notwithstanding Section 2.1(b) above, no patent license is granted by a 116 | Contributor: 117 | 118 | (a) for any code that a Contributor has removed from Covered Software; 119 | or 120 | 121 | (b) for infringements caused by: (i) Your and any other third party's 122 | modifications of Covered Software, or (ii) the combination of its 123 | Contributions with other software (except as part of its Contributor 124 | Version); or 125 | 126 | (c) under Patent Claims infringed by Covered Software in the absence of 127 | its Contributions. 128 | 129 | This License does not grant any rights in the trademarks, service marks, 130 | or logos of any Contributor (except as may be necessary to comply with 131 | the notice requirements in Section 3.4). 132 | 133 | 2.4. Subsequent Licenses 134 | 135 | No Contributor makes additional grants as a result of Your choice to 136 | distribute the Covered Software under a subsequent version of this 137 | License (see Section 10.2) or under the terms of a Secondary License (if 138 | permitted under the terms of Section 3.3). 139 | 140 | 2.5. Representation 141 | 142 | Each Contributor represents that the Contributor believes its 143 | Contributions are its original creation(s) or it has sufficient rights 144 | to grant the rights to its Contributions conveyed by this License. 145 | 146 | 2.6. Fair Use 147 | 148 | This License is not intended to limit any rights You have under 149 | applicable copyright doctrines of fair use, fair dealing, or other 150 | equivalents. 151 | 152 | 2.7. Conditions 153 | 154 | Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted 155 | in Section 2.1. 156 | 157 | 3. Responsibilities 158 | ------------------- 159 | 160 | 3.1. Distribution of Source Form 161 | 162 | All distribution of Covered Software in Source Code Form, including any 163 | Modifications that You create or to which You contribute, must be under 164 | the terms of this License. You must inform recipients that the Source 165 | Code Form of the Covered Software is governed by the terms of this 166 | License, and how they can obtain a copy of this License. You may not 167 | attempt to alter or restrict the recipients' rights in the Source Code 168 | Form. 169 | 170 | 3.2. Distribution of Executable Form 171 | 172 | If You distribute Covered Software in Executable Form then: 173 | 174 | (a) such Covered Software must also be made available in Source Code 175 | Form, as described in Section 3.1, and You must inform recipients of 176 | the Executable Form how they can obtain a copy of such Source Code 177 | Form by reasonable means in a timely manner, at a charge no more 178 | than the cost of distribution to the recipient; and 179 | 180 | (b) You may distribute such Executable Form under the terms of this 181 | License, or sublicense it under different terms, provided that the 182 | license for the Executable Form does not attempt to limit or alter 183 | the recipients' rights in the Source Code Form under this License. 184 | 185 | 3.3. Distribution of a Larger Work 186 | 187 | You may create and distribute a Larger Work under terms of Your choice, 188 | provided that You also comply with the requirements of this License for 189 | the Covered Software. If the Larger Work is a combination of Covered 190 | Software with a work governed by one or more Secondary Licenses, and the 191 | Covered Software is not Incompatible With Secondary Licenses, this 192 | License permits You to additionally distribute such Covered Software 193 | under the terms of such Secondary License(s), so that the recipient of 194 | the Larger Work may, at their option, further distribute the Covered 195 | Software under the terms of either this License or such Secondary 196 | License(s). 197 | 198 | 3.4. Notices 199 | 200 | You may not remove or alter the substance of any license notices 201 | (including copyright notices, patent notices, disclaimers of warranty, 202 | or limitations of liability) contained within the Source Code Form of 203 | the Covered Software, except that You may alter any license notices to 204 | the extent required to remedy known factual inaccuracies. 205 | 206 | 3.5. Application of Additional Terms 207 | 208 | You may choose to offer, and to charge a fee for, warranty, support, 209 | indemnity or liability obligations to one or more recipients of Covered 210 | Software. However, You may do so only on Your own behalf, and not on 211 | behalf of any Contributor. You must make it absolutely clear that any 212 | such warranty, support, indemnity, or liability obligation is offered by 213 | You alone, and You hereby agree to indemnify every Contributor for any 214 | liability incurred by such Contributor as a result of warranty, support, 215 | indemnity or liability terms You offer. You may include additional 216 | disclaimers of warranty and limitations of liability specific to any 217 | jurisdiction. 218 | 219 | 4. Inability to Comply Due to Statute or Regulation 220 | --------------------------------------------------- 221 | 222 | If it is impossible for You to comply with any of the terms of this 223 | License with respect to some or all of the Covered Software due to 224 | statute, judicial order, or regulation then You must: (a) comply with 225 | the terms of this License to the maximum extent possible; and (b) 226 | describe the limitations and the code they affect. Such description must 227 | be placed in a text file included with all distributions of the Covered 228 | Software under this License. Except to the extent prohibited by statute 229 | or regulation, such description must be sufficiently detailed for a 230 | recipient of ordinary skill to be able to understand it. 231 | 232 | 5. Termination 233 | -------------- 234 | 235 | 5.1. The rights granted under this License will terminate automatically 236 | if You fail to comply with any of its terms. However, if You become 237 | compliant, then the rights granted under this License from a particular 238 | Contributor are reinstated (a) provisionally, unless and until such 239 | Contributor explicitly and finally terminates Your grants, and (b) on an 240 | ongoing basis, if such Contributor fails to notify You of the 241 | non-compliance by some reasonable means prior to 60 days after You have 242 | come back into compliance. Moreover, Your grants from a particular 243 | Contributor are reinstated on an ongoing basis if such Contributor 244 | notifies You of the non-compliance by some reasonable means, this is the 245 | first time You have received notice of non-compliance with this License 246 | from such Contributor, and You become compliant prior to 30 days after 247 | Your receipt of the notice. 248 | 249 | 5.2. If You initiate litigation against any entity by asserting a patent 250 | infringement claim (excluding declaratory judgment actions, 251 | counter-claims, and cross-claims) alleging that a Contributor Version 252 | directly or indirectly infringes any patent, then the rights granted to 253 | You by any and all Contributors for the Covered Software under Section 254 | 2.1 of this License shall terminate. 255 | 256 | 5.3. In the event of termination under Sections 5.1 or 5.2 above, all 257 | end user license agreements (excluding distributors and resellers) which 258 | have been validly granted by You or Your distributors under this License 259 | prior to termination shall survive termination. 260 | 261 | ************************************************************************ 262 | * * 263 | * 6. Disclaimer of Warranty * 264 | * ------------------------- * 265 | * * 266 | * Covered Software is provided under this License on an "as is" * 267 | * basis, without warranty of any kind, either expressed, implied, or * 268 | * statutory, including, without limitation, warranties that the * 269 | * Covered Software is free of defects, merchantable, fit for a * 270 | * particular purpose or non-infringing. The entire risk as to the * 271 | * quality and performance of the Covered Software is with You. * 272 | * Should any Covered Software prove defective in any respect, You * 273 | * (not any Contributor) assume the cost of any necessary servicing, * 274 | * repair, or correction. This disclaimer of warranty constitutes an * 275 | * essential part of this License. No use of any Covered Software is * 276 | * authorized under this License except under this disclaimer. * 277 | * * 278 | ************************************************************************ 279 | 280 | ************************************************************************ 281 | * * 282 | * 7. Limitation of Liability * 283 | * -------------------------- * 284 | * * 285 | * Under no circumstances and under no legal theory, whether tort * 286 | * (including negligence), contract, or otherwise, shall any * 287 | * Contributor, or anyone who distributes Covered Software as * 288 | * permitted above, be liable to You for any direct, indirect, * 289 | * special, incidental, or consequential damages of any character * 290 | * including, without limitation, damages for lost profits, loss of * 291 | * goodwill, work stoppage, computer failure or malfunction, or any * 292 | * and all other commercial damages or losses, even if such party * 293 | * shall have been informed of the possibility of such damages. This * 294 | * limitation of liability shall not apply to liability for death or * 295 | * personal injury resulting from such party's negligence to the * 296 | * extent applicable law prohibits such limitation. Some * 297 | * jurisdictions do not allow the exclusion or limitation of * 298 | * incidental or consequential damages, so this exclusion and * 299 | * limitation may not apply to You. * 300 | * * 301 | ************************************************************************ 302 | 303 | 8. Litigation 304 | ------------- 305 | 306 | Any litigation relating to this License may be brought only in the 307 | courts of a jurisdiction where the defendant maintains its principal 308 | place of business and such litigation shall be governed by laws of that 309 | jurisdiction, without reference to its conflict-of-law provisions. 310 | Nothing in this Section shall prevent a party's ability to bring 311 | cross-claims or counter-claims. 312 | 313 | 9. Miscellaneous 314 | ---------------- 315 | 316 | This License represents the complete agreement concerning the subject 317 | matter hereof. If any provision of this License is held to be 318 | unenforceable, such provision shall be reformed only to the extent 319 | necessary to make it enforceable. Any law or regulation which provides 320 | that the language of a contract shall be construed against the drafter 321 | shall not be used to construe this License against a Contributor. 322 | 323 | 10. Versions of the License 324 | --------------------------- 325 | 326 | 10.1. New Versions 327 | 328 | Mozilla Foundation is the license steward. Except as provided in Section 329 | 10.3, no one other than the license steward has the right to modify or 330 | publish new versions of this License. Each version will be given a 331 | distinguishing version number. 332 | 333 | 10.2. Effect of New Versions 334 | 335 | You may distribute the Covered Software under the terms of the version 336 | of the License under which You originally received the Covered Software, 337 | or under the terms of any subsequent version published by the license 338 | steward. 339 | 340 | 10.3. Modified Versions 341 | 342 | If you create software not governed by this License, and you want to 343 | create a new license for such software, you may create and use a 344 | modified version of this License if you rename the license and remove 345 | any references to the name of the license steward (except to note that 346 | such modified license differs from this License). 347 | 348 | 10.4. Distributing Source Code Form that is Incompatible With Secondary 349 | Licenses 350 | 351 | If You choose to distribute Source Code Form that is Incompatible With 352 | Secondary Licenses under the terms of this version of the License, the 353 | notice described in Exhibit B of this License must be attached. 354 | 355 | Exhibit A - Source Code Form License Notice 356 | ------------------------------------------- 357 | 358 | This Source Code Form is subject to the terms of the Mozilla Public 359 | License, v. 2.0. If a copy of the MPL was not distributed with this 360 | file, You can obtain one at http://mozilla.org/MPL/2.0/. 361 | 362 | If it is not possible or desirable to put the notice in a particular 363 | file, then You may include the notice in a location (such as a LICENSE 364 | file in a relevant directory) where a recipient would be likely to look 365 | for such a notice. 366 | 367 | You may add additional accurate notices of copyright ownership. 368 | 369 | Exhibit B - "Incompatible With Secondary Licenses" Notice 370 | --------------------------------------------------------- 371 | 372 | This Source Code Form is "Incompatible With Secondary Licenses", as 373 | defined by the Mozilla Public License, v. 2.0. 374 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Leapmotion + Arduino 2 | 3 | Getting leapmotion to talk to arduino. 4 | 5 | Top level: Leapmotion makes data available via websockets on ```ws://127.0.0.1:6437```. Node.js can parse this. There is also a Node.js library for talking to Arduino called Johnny-five. You need something called StandardFirmata which standardises commands sent between the Arduino and a host computer, which Johnny-five speaks. 6 | 7 | **Note: the `serialport` library only works with node 0.12.x** 8 | 9 | ## 1. Setup 10 | 11 | 1. Install [nodejs](http://www.nodejs.org/) 12 | 1. Run ``npm install`` 13 | 14 | ## 2. Leapmotion + Node.js 15 | 16 | 2. Enable websockets on Leapmotion: 17 | ![Enable websockets on Leapmotion](docs/leap_enable_ws.png?raw=true "Enable websockets on Leapmotion") 18 | 3. Run ``node leap.js`` 19 | 4. Sit-back and enjoy the raw JSON feed! Example frame in ``leap.json`` 20 | 21 | ## 3. Arduino + Node.js 22 | 23 | 1. Flash the Arduino with [StandardFirmata](http://arduino.cc/en/reference/firmata): 24 | ![Install StandardFirmata](docs/arduino_firmata.png?raw=true "Install StandardFirmata") 25 | 2. Run ``node arduino.js`` 26 | 27 | ## 4. Arduino + Leapmotion via Node.js 28 | 29 | 1. Run ``node leap-arduino.js`` (ref [@xavier_seignard](http://xseignard.github.io/2013/06/25/interfacing-leap-motion-with-arduino-thanks-to-nodejs/)) 30 | 2. Placing one or more hands above leap will switch built-in LED on pin 13 on, otherwise off. 31 | 3. Run ``node leap-gestures.js`` 32 | 4. You should see console output for a Screen Tap, Key Tap, Circle and Swipe. 33 | 34 | ## 5. Detecting valid ranges from your Leapmotion 35 | 36 | 1. Run ``node leap-range.js`` 37 | 2. Move both hands around for a while in all directions 38 | 3. Stop program when you stop seeing changes. The final values are the min and max ranges (in mm) of your current setup. 39 | 40 | ## 6. Leapmotion + Servo (via Arduino and Node.js) 41 | 42 | 1. Wire up a servo to pin 9. 43 | 2. Run ```node servo.js```. 44 | 3. Tweak ranges in code if need (servo and leap). Here is a demo video: 45 | [![Leap Servo demo](http://img.youtube.com/vi/DMbuZKZWZlk/0.jpg)](https://www.youtube.com/watch?v=DMbuZKZWZlk) 46 | 47 | ## 7. Leapmotion + 6 Servos 48 | 49 | Tested using 6 degrees of freedom robot arm from: http://www.lynxmotion.com/c-130-al5d.aspx 50 | 51 | 1. Open ``six-servos.js`` and adjust parameters 52 | 2. Run ``node six-servos.js`` 53 | 54 | ## Resources 55 | 56 | * [Johnny-five API](https://github.com/rwaldron/johnny-five/wiki) 57 | * [Leapmotion API](https://developer.leapmotion.com/documentation/cpp/api/Leap_Classes.html) 58 | * [Robotic hand demo](http://www.instructables.com/id/Robotic-Hand-controlled-by-Gesture-with-Arduino-Le/) 59 | * [Robotic lamp demo](http://xseignard.github.io/2013/06/25/interfacing-leap-motion-with-arduino-thanks-to-nodejs/) 60 | -------------------------------------------------------------------------------- /arduino.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Johnny-five speaks StandardFirmata 10 | var five = require('johnny-five'), 11 | board = new five.Board(), 12 | led; 13 | 14 | // Built-in functionality 15 | board.on('ready', function() { 16 | led = new five.Led(13); 17 | led.strobe(); 18 | }); 19 | -------------------------------------------------------------------------------- /docs/arduino_firmata.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DecodedCo/leap-arduino/b6bfe826d418b3024838a18832243b39d8f91754/docs/arduino_firmata.png -------------------------------------------------------------------------------- /docs/leap_enable_ws.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DecodedCo/leap-arduino/b6bfe826d418b3024838a18832243b39d8f91754/docs/leap_enable_ws.png -------------------------------------------------------------------------------- /leap-arduino.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // grab the leap data 10 | var webSocket = require('ws'), 11 | ws = new webSocket('ws://127.0.0.1:6437'), 12 | five = require('johnny-five'), 13 | board = new five.Board(), 14 | led, frame; 15 | 16 | // switch led on when both hands present, otherwise off 17 | board.on('ready', function() { 18 | led = new five.Led(13); 19 | ws.on('message', function(data, flags) { 20 | frame = JSON.parse(data); 21 | if (frame.hands && frame.hands.length == 1) { 22 | led.on(); 23 | } else { 24 | led.off(); 25 | } 26 | }); 27 | }); 28 | -------------------------------------------------------------------------------- /leap-gestures.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Leap motion enables a websocket with all frame data 10 | var webSocket = require('ws'), 11 | ws = new webSocket('ws://127.0.0.1:6437'); 12 | 13 | // On successful connection 14 | ws.onopen = function(event) { 15 | var enableMessage = JSON.stringify({enableGestures: true}); 16 | ws.send(enableMessage); // Enable gestures 17 | }; 18 | 19 | // We can parse this 20 | ws.on('message', function(data, flags) { 21 | frame = JSON.parse(data); 22 | if(frame.gestures && frame.gestures.length > 0){ 23 | frame.gestures.forEach(function(gesture){ 24 | switch (gesture.type){ 25 | case "circle": 26 | console.log("Circle Gesture"); 27 | break; 28 | case "keyTap": 29 | console.log("Key Tap Gesture"); 30 | break; 31 | case "screenTap": 32 | console.log("Screen Tap Gesture"); 33 | break; 34 | case "swipe": 35 | console.log("Swipe Gesture"); 36 | break; 37 | } 38 | }); 39 | } 40 | }); 41 | -------------------------------------------------------------------------------- /leap-range.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Find the max and min range (in mm) of your leap motion 10 | // Run for a few minutes while moving hands around 11 | 12 | // startup 13 | var webSocket = require('ws'), 14 | ws = new webSocket('ws://127.0.0.1:6437'), 15 | frame, 16 | palm = Array(), 17 | min = Array(Array(1e4,1e4,1e4), Array(1e4,1e4,1e4)), 18 | max = Array(Array(-1e4,-1e4,-1e4), Array(-1e4,-1e4,-1e4)); 19 | 20 | // process leap data 21 | ws.on('message', function(data, flags) { 22 | frame = JSON.parse(data); 23 | // both hands at once 24 | if (frame.hands && frame.hands.length > 1) { 25 | // output x,y,z range in mm from controller 26 | // y is up down 27 | // x is left right 28 | // z is forward backward 29 | // left hand is 0, right hand is 1 30 | palm[0] = frame.hands[0].palmPosition; 31 | palm[1] = frame.hands[1].palmPosition; 32 | // for both palms 33 | for (i=0; i<2; i++) { 34 | // for each axis 35 | for (j=0; j<3; j++) { 36 | min[i][j] = (palm[i][j] < min[i][j]) ? palm[i][j] : min[i][j]; 37 | max[i][j] = (palm[i][j] > max[i][j]) ? palm[i][j] : max[i][j]; 38 | } 39 | } 40 | console.log("Min", min); 41 | console.log("Max", max); 42 | } 43 | }); 44 | -------------------------------------------------------------------------------- /leap.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Leap motion enables a websocket with all frame data 10 | var webSocket = require('ws'), 11 | ws = new webSocket('ws://127.0.0.1:6437'); 12 | 13 | // We can parse this 14 | ws.on('message', function(data, flags) { 15 | console.log(data); 16 | }); 17 | -------------------------------------------------------------------------------- /leap.json: -------------------------------------------------------------------------------- 1 | { 2 | "currentFrameRate": 110.729, 3 | "gestures": [], 4 | "hands": [], 5 | "id": 12605, 6 | "interactionBox": { 7 | "center": [ 8 | 0, 9 | 200, 10 | 0 11 | ], 12 | "size": [ 13 | 221.418, 14 | 221.418, 15 | 154.742 16 | ] 17 | }, 18 | "pointables": [ 19 | { 20 | "direction": [ 21 | -0.224376, 22 | 0.447871, 23 | -0.865486 24 | ], 25 | "handId": -1, 26 | "id": 37, 27 | "length": 35.9152, 28 | "stabilizedTipPosition": [ 29 | 47.9568, 30 | 76.8317, 31 | 83.4367 32 | ], 33 | "timeVisible": 0.117427, 34 | "tipPosition": [ 35 | 49.6937, 36 | 76.0022, 37 | 84.5641 38 | ], 39 | "tipVelocity": [ 40 | 76.8193, 41 | -44.5347, 42 | 26.3431 43 | ], 44 | "tool": false, 45 | "touchDistance": 0.333333, 46 | "touchZone": "hovering" 47 | } 48 | ], 49 | "r": [ 50 | [ 51 | -0.261372, 52 | -0.184806, 53 | -0.947381 54 | ], 55 | [ 56 | 0.417546, 57 | 0.863267, 58 | -0.283594 59 | ], 60 | [ 61 | 0.870253, 62 | -0.469699, 63 | -0.148469 64 | ] 65 | ], 66 | "s": -0.31537, 67 | "t": [ 68 | 273.746, 69 | -169.44, 70 | -85.1682 71 | ], 72 | "timestamp": 431314269 73 | } 74 | -------------------------------------------------------------------------------- /package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "leapmotion-arduino", 3 | "version": "0.0.0", 4 | "description": "Leapmotion + Arduino ==================", 5 | "main": "leap.js", 6 | "scripts": { 7 | "test": "echo \"Error: no test specified\" && exit 1" 8 | }, 9 | "repository": { 10 | "type": "git", 11 | "url": "git@git.decoded.co:amadeuspzs/leapmotion-arduino.git" 12 | }, 13 | "author": "", 14 | "license": "MPL-2.0", 15 | "dependencies": { 16 | "johnny-five": "^0.8.8", 17 | "serialport": "^1.4.6", 18 | "ws": "^0.4.32" 19 | } 20 | } 21 | -------------------------------------------------------------------------------- /servo.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Map a servo to a single hand, single axis 10 | 11 | // grab the leap data 12 | var webSocket = require('ws'), 13 | ws = new webSocket('ws://127.0.0.1:6437'), 14 | five = require('johnny-five'), 15 | board = new five.Board(), 16 | // mm range of leap motion to use, see leap-range.js to find 17 | leap_range = [-100,100], // x of right hand 18 | frame, palm; 19 | 20 | // parse the data and respond 21 | board.on('ready', function() { 22 | // setup a servo on pin 9 23 | servo = new five.Servo({ 24 | pin: 9, 25 | range: [0, 179] // dependent on servo 26 | }); 27 | 28 | // set to midpoint 29 | servo.to(90); 30 | 31 | ws.on('message', function(data, flags) { 32 | frame = JSON.parse(data); 33 | // if only one hand is present 34 | if (frame.hands && frame.hands.length == 1) { 35 | // extract centre palm position in mm [x,y,z] 36 | palm = frame.hands[0].palmPosition; 37 | // map x position of leap to servo 38 | //console.log("input",palm[0]); 39 | console.log("output", palm[0].map()) 40 | servo.to(palm[0].map()); 41 | } 42 | }); 43 | }); 44 | 45 | // map two number ranges, adapted from SO: 10756313 46 | Number.prototype.map = function () { 47 | var output = Math.round((this - leap_range[0]) * (servo.range[1] - servo.range[0]) / (leap_range[1] - leap_range[0]) + servo.range[0]); 48 | 49 | // check output is within range, or cap 50 | output = (output > servo.range[1]) ? servo.range[1] : output; 51 | output = (output < servo.range[0]) ? servo.range[0] : output; 52 | // is the servo range reversed? uncomment below 53 | output = servo.range[1] - output; 54 | return output; 55 | } 56 | -------------------------------------------------------------------------------- /six-servos.js: -------------------------------------------------------------------------------- 1 | /* 2 | * This Source Code Form is subject to the terms of the Mozilla Public 3 | * License, v. 2.0. If a copy of the MPL was not distributed with this 4 | * file, You can obtain one at http://mozilla.org/MPL/2.0/. 5 | * 6 | * Copyright (c) 2014, Decoded Ltd dev@decoded.com 7 | */ 8 | 9 | // Map six servos to two hands, trip axis for each hand 10 | 11 | // Define acceptable ranges, see leap-range.js 12 | 13 | leap_ranges = Array( 14 | Array( 15 | Array(-250,-70), 16 | Array(50,500), 17 | Array(-100,200) 18 | ), 19 | Array( 20 | Array(40,300), 21 | Array(50,500), 22 | Array(-100,200) 23 | ) 24 | ); 25 | 26 | servo_ranges = Array( 27 | Array( 28 | Array(0,179), 29 | Array(0,179), 30 | Array(0,179) 31 | ), 32 | Array( 33 | Array(0,179), 34 | Array(0,179), 35 | Array(0,179) 36 | ) 37 | ); 38 | 39 | // grab the leap data 40 | var webSocket = require('ws'), 41 | ws = new webSocket('ws://127.0.0.1:6437'), 42 | five = require('johnny-five'), 43 | board = new five.Board(), 44 | // mm range of leap motion to use, see leap-range.js to find 45 | frame, palm = Array(); 46 | 47 | // parse the data and respond 48 | board.on('ready', function() { 49 | // setup six servos on the six pwn pins of an Arduino Uno 50 | servos = Array( 51 | Array( 52 | new five.Servo({ pin: 3 }), 53 | new five.Servo({ pin: 5 }), 54 | new five.Servo({ pin: 6 }) 55 | ), 56 | Array( 57 | new five.Servo({ pin: 9 }), 58 | new five.Servo({ pin: 10 }), 59 | new five.Servo({ pin: 11 })) 60 | ); 61 | 62 | // set to 90 63 | servos.forEach(function(servo) { 64 | servo.forEach(function(s) { 65 | s.to(90); 66 | }); 67 | }); 68 | 69 | ws.on('message', function(data, flags) { 70 | frame = JSON.parse(data); 71 | if (frame.hands && frame.hands.length == 2) { 72 | // extract centre palm position in mm [x,y,z] 73 | palm[0] = frame.hands[0].palmPosition; 74 | palm[1] = frame.hands[1].palmPosition; 75 | 76 | // make sure the 0th palm is always the left one 77 | if (palm[1][0] < (palm[0][0])) { 78 | var newpalm = Array(); 79 | newpalm[1]=palm[0]; 80 | newpalm[0]=palm[1]; 81 | palm=newpalm; 82 | } 83 | // map x,y,z positions of leap to servos 84 | //console.log("output", palm[0].map(1,2)) 85 | //console.log("left:", palm[0][2]); 86 | //console.log("right:", palm[1][2]); 87 | 88 | for (hand=0; hand<2; hand++) { 89 | for (axis=0; axis<3; axis++) { 90 | servos[hand][axis].to(palm[hand][axis].map(hand,axis)); 91 | } 92 | } 93 | } 94 | }); 95 | }); 96 | 97 | // map two number ranges, adapted from SO: 10756313 98 | Number.prototype.map = function (hand, axis) { 99 | var output = Math.round((this - leap_ranges[hand][axis][0]) * (servo_ranges[hand][axis][1] - servo_ranges[hand][axis][0]) / (leap_ranges[hand][axis][1] - leap_ranges[hand][axis][0]) + servo_ranges[hand][axis][0]); 100 | 101 | // check output is within range, or cap 102 | output = (output > servo_ranges[hand][axis][1]) ? servo_ranges[hand][axis][1] : output; 103 | output = (output < servo_ranges[hand][axis][0]) ? servo_ranges[hand][axis][0] : output; 104 | return output; 105 | } 106 | --------------------------------------------------------------------------------