Category Archives: Tutorial

MicroPython, Raspberry Pi Pico, Tutorial

Getting Latitude and Longitude from the Adafruit Ultimate GPS with Raspberry Pi Pico W

July 1, 2025 admin

In this video lesson I show how to get usable Latitude and Longitude from the Adafruit Ultimate GPS version 3 using the Raspberry Pi Pico W. We read the NMEA sentences from the GPS, we parse them into individual strings for each sentence, and then we create arrays of data from the strings. Then we begin to parse the arrays, and convert the confusing numbers into useful Decimal Degree values for Latitude and Longitude.

This schematic shows how to connect the Adafruit Ultimate GPS to the Raspberry Pi Pico W

For your convenience, this is the code we developed in todays lesson:

from machine import Pin,I2C,UART  #***************
import time
GPS = UART(1, baudrate=9600, tx=machine.Pin(8), rx=machine.Pin(9))
myNMEA=""
GPGGA=""
GPGSA=""
GPRMC=""
GPVTG=""
GPGSV=""
while not GPS.any():
    pass
while GPS.any():
    junk=GPS.read()
    print(junk)
try:
    while True:
        if GPS.any():
            #myChar=GPS.read(1)
            myChar=GPS.read(1).decode('utf-8')
            myNMEA=myNMEA+myChar
            if myChar=='\n':
                if myNMEA[1:6]=="GPGGA":
                    GPGGA=myNMEA
                    GPGGAarray=GPGGA.split(',')
                    #print(GPGGA)
                    #print(GPGGAarray)
                    if int(GPGGAarray[6]) != 0:
                        latRAW=GPGGAarray[2]
                        lonRAW=GPGGAarray[4]
                        numSat=int(GPGGAarray[7])
                        latDD=int(latRAW[0:2])+float(latRAW[2:])/60
                        lonDD=int(lonRAW[0:3])+float(lonRAW[3:])/60
                        if GPGGAarray[3]=='S':
                            latDD=-latDD
                        if GPGGAarray[5]=='W':
                            lonDD=-lonDD
                        print("LAT, LON, numSat ",latDD,lonDD,numSat)
                if myNMEA[1:6]=="GPGSA":
                    GPGSA=myNMEA
                    GPGSAarray=GPGSA.split(',')
                if myNMEA[1:6]=="GPRMC":
                    GPRMC=myNMEA
                    GPRMCarray=GPRMC.split(',')
                    knots=float(GPRMCarray[7])
                    heading=float(GPRMCarray[8])
                    print(knots, "Knots at a Heading of: ",heading)
                if myNMEA[1:6]=="GPVTG":
                    GPVTG=myNMEA
                    GPVTGarray=GPVTG.split(',')
                if myNMEA[1:6]=="GPGSV":
                    GPGSV=myNMEA
                    GPGSVarray=GPGSV.split(',')
                    if GPGGA!="":
                        if int(GPGGAarray[6])==0:
                            print('Aquiring Fix:', GPGSVarray[3], "Sattellites in View")
                                              
                myNMEA=""
except KeyboardInterrupt:
    print("\nStopping program... Cleaning up UART.")
    GPS.deinit()  # Properly release UART before exit
    time.sleep(1)  # Short pause to ensure clean shutdown
    print("Exited cleanly.")

from machine import Pin,I2C,UART #***************

import time

GPS = UART(1, baudrate=9600, tx=machine.Pin(8), rx=machine.Pin(9))

myNMEA=""

GPGGA=""

GPGSA=""

GPRMC=""

GPVTG=""

GPGSV=""

while not GPS.any():

pass

while GPS.any():

junk=GPS.read()

print(junk)

try:

while True:

if GPS.any():

#myChar=GPS.read(1)

myChar=GPS.read(1).decode('utf-8')

myNMEA=myNMEA+myChar

if myChar=='\n':

if myNMEA[1:6]=="GPGGA":

GPGGA=myNMEA

GPGGAarray=GPGGA.split(',')

#print(GPGGA)

#print(GPGGAarray)

if int(GPGGAarray[6]) != 0:

latRAW=GPGGAarray[2]

lonRAW=GPGGAarray[4]

numSat=int(GPGGAarray[7])

latDD=int(latRAW[0:2])+float(latRAW[2:])/60

lonDD=int(lonRAW[0:3])+float(lonRAW[3:])/60

if GPGGAarray[3]=='S':

latDD=-latDD

if GPGGAarray[5]=='W':

lonDD=-lonDD

print("LAT, LON, numSat ",latDD,lonDD,numSat)

if myNMEA[1:6]=="GPGSA":

GPGSA=myNMEA

GPGSAarray=GPGSA.split(',')

if myNMEA[1:6]=="GPRMC":

GPRMC=myNMEA

GPRMCarray=GPRMC.split(',')

knots=float(GPRMCarray[7])

heading=float(GPRMCarray[8])

print(knots, "Knots at a Heading of: ",heading)

if myNMEA[1:6]=="GPVTG":

GPVTG=myNMEA

GPVTGarray=GPVTG.split(',')

if myNMEA[1:6]=="GPGSV":

GPGSV=myNMEA

GPGSVarray=GPGSV.split(',')

if GPGGA!="":

if int(GPGGAarray[6])==0:

print('Aquiring Fix:', GPGSVarray[3], "Sattellites in View")

myNMEA=""

except KeyboardInterrupt:

print("\nStopping program... Cleaning up UART.")

GPS.deinit() # Properly release UART before exit

time.sleep(1) # Short pause to ensure clean shutdown

print("Exited cleanly.")

Arduino, Arduino with Python, Tutorial

PyQt5 Project to Control Arduino RGB LED Over WiFi

June 12, 2025 admin

In this video lesson we add slider bars to our PyQt Widget allowing us to control the color of an RGB LED over WiFi. When using the breadvolt, or any battery power supply on a breadboard project, do not turn the power supply on while the Arduino is connected to USB, as you could generate voltage conflicts. It is an either or. If the USB is connected, the power supply should be OFF. Or if you are going to connect the USB, first turn off the power supply. The schematic for the project circuit is shown below:

Schematic of our Arduino Uno R4 Wifi connected to an RGB LED

The server side code developed in the video is presented below:

#include <WiFiS3.h>
#include "secrets.h"
WiFiUDP udp;
int PORT = 12345;
String myString;
String stringArray[10];
String response = "ACK\n";

int redPin = 9;
int greenPin = 10;
int bluePin = 11;

void setup() {
  Serial.begin(9600);
  pinMode(redPin,OUTPUT);
  pinMode(greenPin,OUTPUT);
  pinMode(bluePin,OUTPUT);
  Serial.print("Connecting to ");
  Serial.println(mySSID);
  WiFi.begin(mySSID, myPASS);
  while (WiFi.status() != WL_CONNECTED) {
    delay(100);
    Serial.print(".");
  }
  Serial.println("\nConnected to WiFi");
  Serial.println(WiFi.localIP());
  udp.begin(PORT);
  Serial.print("UDP Server started on port ");
  Serial.print(PORT);
  // put your setup code here, to run once:
}
void splitString() {
  int startIndex = 0;
  int indexCount = 0;
  int i;
  int j;
  myString = myString + ':';
  for (i = 0; i < myString.length(); i = i + 1) {
    if (myString[i] == ':') {
      stringArray[indexCount] = myString.substring(startIndex, i);
      indexCount = indexCount + 1;
      startIndex = i + 1;
    }
  }
  for (j = 0; j < indexCount; j = j + 1) {
    Serial.println(stringArray[j]);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  if (udp.parsePacket()) {
    myString = udp.readStringUntil('\n');
    Serial.println("Received : " + myString);
    udp.beginPacket(udp.remoteIP(), udp.remotePort());
    udp.print(response);
    udp.endPacket();
    Serial.println("SENT: " + response);
    splitString();
    if (stringArray[0]=="redblink"){
      for (int i =0; i<stringArray[1].toInt();i=i+1){
        Serial.println("Blink Red");
        analogWrite(redPin,stringArray[3].toInt());
        delay(stringArray[2].toInt());
          analogWrite(redPin,0);
        delay(stringArray[2].toInt());
      }      
    }
        if (stringArray[0]=="greenblink"){
      for (int i =0; i<stringArray[1].toInt();i=i+1){
        Serial.println("Blink Green");
        analogWrite(greenPin,stringArray[3].toInt());
        delay(stringArray[2].toInt());
          analogWrite(greenPin,0);
        delay(stringArray[2].toInt());
      }      
    }    if (stringArray[0]=="blueblink"){
      for (int i =0; i<stringArray[1].toInt();i=i+1){
        Serial.println("Blink Blue");
        analogWrite(bluePin,stringArray[3].toInt());
        delay(stringArray[2].toInt());
          analogWrite(bluePin,0);
        delay(stringArray[2].toInt());
      }      
    }
    if (stringArray[0]=="redOn"){
      analogWrite(redPin,stringArray[1].toInt());
    }
        if (stringArray[0]=="redOff"){
      analogWrite(redPin,0);
    }
        if (stringArray[0]=="greenOn"){
      analogWrite(greenPin,stringArray[1].toInt());
    }
        if (stringArray[0]=="greenOff"){
      analogWrite(greenPin,0);
    }
        if (stringArray[0]=="blueOn"){
      analogWrite(bluePin,stringArray[1].toInt());
    }
        if (stringArray[0]=="blueOff"){
      analogWrite(bluePin,0);
    }
    if (stringArray[0]=="redBright"){
      analogWrite(redPin,stringArray[1].toInt());
      Serial.println(stringArray[1].toInt());
    }
        if (stringArray[0]=="greenBright"){
      analogWrite(greenPin,stringArray[1].toInt());
      Serial.println(stringArray[1].toInt());
    }
        if (stringArray[0]=="blueBright"){
      analogWrite(bluePin,stringArray[1].toInt());
      Serial.println(stringArray[1].toInt());
    }
  }
}

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#include <WiFiS3.h>

#include "secrets.h"

WiFiUDP udp;

int PORT = 12345;

String myString;

String stringArray[10];

String response = "ACK\n";

int redPin = 9;

int greenPin = 10;

int bluePin = 11;

void setup() {

Serial.begin(9600);

pinMode(redPin,OUTPUT);

pinMode(greenPin,OUTPUT);

pinMode(bluePin,OUTPUT);

Serial.print("Connecting to ");

Serial.println(mySSID);

WiFi.begin(mySSID, myPASS);

while (WiFi.status() != WL_CONNECTED) {

delay(100);

Serial.print(".");

}

Serial.println("\nConnected to WiFi");

Serial.println(WiFi.localIP());

udp.begin(PORT);

Serial.print("UDP Server started on port ");

Serial.print(PORT);

// put your setup code here, to run once:

}

void splitString() {

int startIndex = 0;

int indexCount = 0;

int i;

int j;

myString = myString + ':';

for (i = 0; i < myString.length(); i = i + 1) {

if (myString[i] == ':') {

stringArray[indexCount] = myString.substring(startIndex, i);

indexCount = indexCount + 1;

startIndex = i + 1;

}

for (j = 0; j < indexCount; j = j + 1) {

Serial.println(stringArray[j]);

}

void loop() {

// put your main code here, to run repeatedly:

if (udp.parsePacket()) {

myString = udp.readStringUntil('\n');

Serial.println("Received : " + myString);

udp.beginPacket(udp.remoteIP(), udp.remotePort());

udp.print(response);

udp.endPacket();

Serial.println("SENT: " + response);

splitString();

if (stringArray[0]=="redblink"){

for (int i =0; i<stringArray[1].toInt();i=i+1){

Serial.println("Blink Red");

analogWrite(redPin,stringArray[3].toInt());

delay(stringArray[2].toInt());

analogWrite(redPin,0);

delay(stringArray[2].toInt());

}

if (stringArray[0]=="greenblink"){

for (int i =0; i<stringArray[1].toInt();i=i+1){

Serial.println("Blink Green");

analogWrite(greenPin,stringArray[3].toInt());

delay(stringArray[2].toInt());

analogWrite(greenPin,0);

delay(stringArray[2].toInt());

}

} if (stringArray[0]=="blueblink"){

for (int i =0; i<stringArray[1].toInt();i=i+1){

Serial.println("Blink Blue");

analogWrite(bluePin,stringArray[3].toInt());

delay(stringArray[2].toInt());

analogWrite(bluePin,0);

delay(stringArray[2].toInt());

}

if (stringArray[0]=="redOn"){

analogWrite(redPin,stringArray[1].toInt());

}

if (stringArray[0]=="redOff"){

analogWrite(redPin,0);

}

if (stringArray[0]=="greenOn"){

analogWrite(greenPin,stringArray[1].toInt());

}

if (stringArray[0]=="greenOff"){

analogWrite(greenPin,0);

}

if (stringArray[0]=="blueOn"){

analogWrite(bluePin,stringArray[1].toInt());

}

if (stringArray[0]=="blueOff"){

analogWrite(bluePin,0);

}

if (stringArray[0]=="redBright"){

analogWrite(redPin,stringArray[1].toInt());

Serial.println(stringArray[1].toInt());

}

if (stringArray[0]=="greenBright"){

analogWrite(greenPin,stringArray[1].toInt());

Serial.println(stringArray[1].toInt());

}

if (stringArray[0]=="blueBright"){

analogWrite(bluePin,stringArray[1].toInt());

Serial.println(stringArray[1].toInt());

}

Remember to add the secrets.h file by adding a tab to the project, as explained in the video.

#define mySSID "YOUR WIFI NAME"
#define myPASS "YOUR WIFI PASSWORD"

1 2	#define mySSID "YOUR WIFI NAME" #define myPASS "YOUR WIFI PASSWORD"

And then on the client side, we have the following code:

from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
import sys
import socket

redStrength=255
greenStrength=255
blueStrength=255
 
# Arduino’s IP address (from Arduino Serial Monitor)
HOST = "192.168.88.120"  # Use Your Arduino's IP. It will print when
                        #You Run the Arduino Server Program
PORT = 12345            # Must match Arduino’s UDP port
 
# Create a UDP socket
mySocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
mySocket.settimeout(5.0)  # 5 seconds timeout for responses

app = QApplication([])

window = QMainWindow()
window.setWindowTitle('Welcome to GUI World')
window.setGeometry(100,100,500,300)

widgetContainer = QWidget()
window.setCentralWidget(widgetContainer)
mainLayout = QVBoxLayout(widgetContainer)

label = QLabel("Welcome to PyQt5!")
label.setAlignment(Qt.AlignCenter)
label.setStyleSheet("font-size: 24px; color: blue; padding: 10px;")
label.setFixedHeight(50)
mainLayout.addWidget(label)

pushButtonLayout = QHBoxLayout()
mainLayout.addLayout(pushButtonLayout)

pushButtonRed = QPushButton("Blink Red!")
pushButtonRed.setStyleSheet("background-color: red; color: white; font-size: 24px; padding:10;")
pushButtonRed.setFixedSize(150,50)
def pushButtonRedClicked():
    label.setText("Blink Red!")
    label.setStyleSheet(" font-size: 24px;color: red; padding:10;")
    cmd ="redblink:5:100:"+str(redStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    print('Sent '+cmd+' to HOST',HOST,PORT)
    try:
        response, server_address = mySocket.recvfrom(1024)
        print("Server response:", response.decode())
    except socket.timeout:
        print("No response received from server within 5 seconds")
pushButtonRed.clicked.connect(pushButtonRedClicked)
pushButtonLayout.addWidget(pushButtonRed)

pushButtonGreen = QPushButton("Blink Green!")
pushButtonGreen.setStyleSheet("background-color: green; color: white; font-size: 24px; padding:10;")
pushButtonGreen.setFixedSize(150,50)
def pushButtonGreenClicked():
    label.setText("Blink Green!")
    label.setStyleSheet(" font-size: 24px;color: green; padding:10;")
    cmd ="greenblink:5:100:"+str(greenStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    print('Sent '+cmd+' to HOST',HOST,PORT)
    try:
        response, server_address = mySocket.recvfrom(1024)
        print("Server response:", response.decode())
    except socket.timeout:
        print("No response received from server within 5 seconds")
    
pushButtonGreen.clicked.connect(pushButtonGreenClicked)
pushButtonLayout.addWidget(pushButtonGreen)

pushButtonBlue = QPushButton("Blink Blue!")
pushButtonBlue.setStyleSheet("background-color: blue; color: white; font-size: 24px; padding:10;")
pushButtonBlue.setFixedSize(150,50)
def pushButtonBlueClicked():
    label.setText("Blink Blue!")
    label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")
    cmd ="blueblink:5:100:"+str(blueStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    print('Sent '+cmd+' to HOST',HOST,PORT)
    try:
        response, server_address = mySocket.recvfrom(1024)
        print("Server response:", response.decode())
    except socket.timeout:
        print("No response received from server within 5 seconds")
 
pushButtonBlue.clicked.connect(pushButtonBlueClicked)
pushButtonLayout.addWidget(pushButtonBlue)

toggleButtonLayout = QHBoxLayout()
mainLayout.addLayout(toggleButtonLayout)


toggleButtonRed = QPushButton("Toggle Red")
toggleButtonRed.setCheckable(True)
toggleButtonRed.setStyleSheet("background-color: red; color: white; font-size: 18px; padding:10;")
toggleButtonRed.setFixedSize(150,50)
def toggleRed(checked):
    if checked:
        label.setText("Red Toggle ON")
        label.setStyleSheet(" font-size: 24px;color: red; padding:10;")
        cmd="redOn:"+str(redStrength)+"\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds")
    if not checked:
        label.setText("Red Toggle OFF")
        label.setStyleSheet(" font-size: 24px;color: red; padding:10;")
        cmd="redOff:0\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds") 
        

toggleButtonRed.toggled.connect(toggleRed)
toggleButtonLayout.addWidget(toggleButtonRed)

toggleButtonGreen = QPushButton("Toggle Green")
toggleButtonGreen.setCheckable(True)
toggleButtonGreen.setStyleSheet("background-color: green; color: white; font-size: 18px; padding:10;")
toggleButtonGreen.setFixedSize(150,50)
def toggleGreen(checked):
    if checked:
        label.setText("Green Toggle ON")
        label.setStyleSheet(" font-size: 24px;color: green; padding:10;")
        cmd="greenOn:"+str(greenStrength)+"\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds")
    if not checked:
        label.setText("Green Toggle OFF")
        label.setStyleSheet(" font-size: 24px;color: green; padding:10;")
        cmd="greenOff:0\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds") 
   
toggleButtonGreen.toggled.connect(toggleGreen)
toggleButtonLayout.addWidget(toggleButtonGreen)

toggleButtonBlue = QPushButton("Toggle Blue")
toggleButtonBlue.setCheckable(True)
toggleButtonBlue.setStyleSheet("background-color: blue; color: white; font-size: 18px; padding:10;")
toggleButtonBlue.setFixedSize(150,50)
def toggleBlue(checked):
    if checked:
        label.setText("Blue Toggle ON")
        label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")
        cmd="blueOn:"+str(blueStrength)+"\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds")
    if not checked:
        label.setText("Blue Toggle OFF")
        label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")
        cmd="blueOff:0\n"
        cmdEncoded=cmd.encode()
        mySocket.sendto(cmdEncoded, (HOST,PORT))
        print('Sent '+cmd+' to HOST',HOST,PORT)
        try:
            response, server_address = mySocket.recvfrom(1024)
            print("Server response:", response.decode())
        except socket.timeout:
            print("No response received from server within 5 seconds") 
   
toggleButtonBlue.toggled.connect(toggleBlue)
toggleButtonLayout.addWidget(toggleButtonBlue)

redSlider = QSlider(Qt.Horizontal)
redSlider.setMinimum(0)
redSlider.setMaximum(100)
redSlider.setValue(100)
redSlider.setStyleSheet("""
QSlider::groove:horizontal {background: lightpink; height:20px;border-radius:5px;}
QSlider::handle:horizontal {background: red; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;} 
""")
redSlider.setFixedHeight(50)
def updateRedSlider():
    global redStrength
    label.setText("Red Slider: "+str(redSlider.value()))
    label.setStyleSheet("font-size: 24px; color: red; padding:10;")
    redStrength = int(redSlider.value()/100*255)
    print("Red Strength: ",redStrength)
    cmd="redBright:"+str(redStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    try:
        response,server_address = mySocket.recvfrom(1024)
        print("Server response: ",response.decode())
    except socket.timeout:
        print("No Response for the Server for TimeOut")
    
redSlider.valueChanged.connect(updateRedSlider)
mainLayout.addWidget(redSlider)

greenSlider = QSlider(Qt.Horizontal)
greenSlider.setMinimum(0)
greenSlider.setMaximum(100)
greenSlider.setValue(100)
greenSlider.setStyleSheet("""
QSlider::groove:horizontal {background: lightgreen; height:20px;border-radius:5px;}
QSlider::handle:horizontal {background: green; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;} 
""")
greenSlider.setFixedHeight(50)
def updateGreenSlider():
    global greenStrength
    label.setText("Green Slider: "+str(greenSlider.value()))
    label.setStyleSheet("font-size: 24px; color: green; padding:10;")
    greenStrength = int(greenSlider.value()/100*255)
    print("Green Strength: ",greenStrength)
    cmd="greenBright:"+str(greenStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    try:
        response,server_address = mySocket.recvfrom(1024)
        print("Server response: ",response.decode())
    except socket.timeout:
        print("No Response for the Server for TimeOut")
greenSlider.valueChanged.connect(updateGreenSlider)
mainLayout.addWidget(greenSlider)

blueSlider = QSlider(Qt.Horizontal)
blueSlider.setMinimum(0)
blueSlider.setMaximum(100)
blueSlider.setValue(100)
blueSlider.setStyleSheet("""
QSlider::groove:horizontal {background: lightblue; height:20px;border-radius:5px;}
QSlider::handle:horizontal {background: blue; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;} 
""")
blueSlider.setFixedHeight(50)
def updateBlueSlider():
    global blueStrength
    label.setText("Blue Slider: "+str(blueSlider.value()))
    label.setStyleSheet("font-size: 24px; color: blue; padding:10;")
    blueStrength = int(blueSlider.value()/100*255)
    print("Blue Strength: ",blueStrength)
    cmd="blueBright:"+str(blueStrength)+"\n"
    cmdEncoded=cmd.encode()
    mySocket.sendto(cmdEncoded, (HOST,PORT))
    try:
        response,server_address = mySocket.recvfrom(1024)
        print("Server response: ",response.decode())
    except socket.timeout:
        print("No Response for the Server for TimeOut") 
blueSlider.valueChanged.connect(updateBlueSlider)
mainLayout.addWidget(blueSlider)

mainLayout.addStretch()
window.show()
sys.exit(app.exec_())

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from PyQt5.QtWidgets import *

from PyQt5.QtCore import *

import sys

import socket

redStrength=255

greenStrength=255

blueStrength=255

# Arduino’s IP address (from Arduino Serial Monitor)

HOST = "192.168.88.120" # Use Your Arduino's IP. It will print when

#You Run the Arduino Server Program

PORT = 12345 # Must match Arduino’s UDP port

# Create a UDP socket

mySocket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

mySocket.settimeout(5.0) # 5 seconds timeout for responses

app = QApplication([])

window = QMainWindow()

window.setWindowTitle('Welcome to GUI World')

window.setGeometry(100,100,500,300)

widgetContainer = QWidget()

window.setCentralWidget(widgetContainer)

mainLayout = QVBoxLayout(widgetContainer)

label = QLabel("Welcome to PyQt5!")

label.setAlignment(Qt.AlignCenter)

label.setStyleSheet("font-size: 24px; color: blue; padding: 10px;")

label.setFixedHeight(50)

mainLayout.addWidget(label)

pushButtonLayout = QHBoxLayout()

mainLayout.addLayout(pushButtonLayout)

pushButtonRed = QPushButton("Blink Red!")

pushButtonRed.setStyleSheet("background-color: red; color: white; font-size: 24px; padding:10;")

pushButtonRed.setFixedSize(150,50)

def pushButtonRedClicked():

label.setText("Blink Red!")

label.setStyleSheet(" font-size: 24px;color: red; padding:10;")

cmd ="redblink:5:100:"+str(redStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

pushButtonRed.clicked.connect(pushButtonRedClicked)

pushButtonLayout.addWidget(pushButtonRed)

pushButtonGreen = QPushButton("Blink Green!")

pushButtonGreen.setStyleSheet("background-color: green; color: white; font-size: 24px; padding:10;")

pushButtonGreen.setFixedSize(150,50)

def pushButtonGreenClicked():

label.setText("Blink Green!")

label.setStyleSheet(" font-size: 24px;color: green; padding:10;")

cmd ="greenblink:5:100:"+str(greenStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

pushButtonGreen.clicked.connect(pushButtonGreenClicked)

pushButtonLayout.addWidget(pushButtonGreen)

pushButtonBlue = QPushButton("Blink Blue!")

pushButtonBlue.setStyleSheet("background-color: blue; color: white; font-size: 24px; padding:10;")

pushButtonBlue.setFixedSize(150,50)

def pushButtonBlueClicked():

label.setText("Blink Blue!")

label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")

cmd ="blueblink:5:100:"+str(blueStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

pushButtonBlue.clicked.connect(pushButtonBlueClicked)

pushButtonLayout.addWidget(pushButtonBlue)

toggleButtonLayout = QHBoxLayout()

mainLayout.addLayout(toggleButtonLayout)

toggleButtonRed = QPushButton("Toggle Red")

toggleButtonRed.setCheckable(True)

toggleButtonRed.setStyleSheet("background-color: red; color: white; font-size: 18px; padding:10;")

toggleButtonRed.setFixedSize(150,50)

def toggleRed(checked):

if checked:

label.setText("Red Toggle ON")

label.setStyleSheet(" font-size: 24px;color: red; padding:10;")

cmd="redOn:"+str(redStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

if not checked:

label.setText("Red Toggle OFF")

label.setStyleSheet(" font-size: 24px;color: red; padding:10;")

cmd="redOff:0\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

toggleButtonRed.toggled.connect(toggleRed)

toggleButtonLayout.addWidget(toggleButtonRed)

toggleButtonGreen = QPushButton("Toggle Green")

toggleButtonGreen.setCheckable(True)

toggleButtonGreen.setStyleSheet("background-color: green; color: white; font-size: 18px; padding:10;")

toggleButtonGreen.setFixedSize(150,50)

def toggleGreen(checked):

if checked:

label.setText("Green Toggle ON")

label.setStyleSheet(" font-size: 24px;color: green; padding:10;")

cmd="greenOn:"+str(greenStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

if not checked:

label.setText("Green Toggle OFF")

label.setStyleSheet(" font-size: 24px;color: green; padding:10;")

cmd="greenOff:0\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

toggleButtonGreen.toggled.connect(toggleGreen)

toggleButtonLayout.addWidget(toggleButtonGreen)

toggleButtonBlue = QPushButton("Toggle Blue")

toggleButtonBlue.setCheckable(True)

toggleButtonBlue.setStyleSheet("background-color: blue; color: white; font-size: 18px; padding:10;")

toggleButtonBlue.setFixedSize(150,50)

def toggleBlue(checked):

if checked:

label.setText("Blue Toggle ON")

label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")

cmd="blueOn:"+str(blueStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

if not checked:

label.setText("Blue Toggle OFF")

label.setStyleSheet(" font-size: 24px;color: blue; padding:10;")

cmd="blueOff:0\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

print('Sent '+cmd+' to HOST',HOST,PORT)

try:

response, server_address = mySocket.recvfrom(1024)

print("Server response:", response.decode())

except socket.timeout:

print("No response received from server within 5 seconds")

toggleButtonBlue.toggled.connect(toggleBlue)

toggleButtonLayout.addWidget(toggleButtonBlue)

redSlider = QSlider(Qt.Horizontal)

redSlider.setMinimum(0)

redSlider.setMaximum(100)

redSlider.setValue(100)

redSlider.setStyleSheet("""

QSlider::groove:horizontal {background: lightpink; height:20px;border-radius:5px;}

QSlider::handle:horizontal {background: red; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;}

""")

redSlider.setFixedHeight(50)

def updateRedSlider():

global redStrength

label.setText("Red Slider: "+str(redSlider.value()))

label.setStyleSheet("font-size: 24px; color: red; padding:10;")

redStrength = int(redSlider.value()/100*255)

print("Red Strength: ",redStrength)

cmd="redBright:"+str(redStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

try:

response,server_address = mySocket.recvfrom(1024)

print("Server response: ",response.decode())

except socket.timeout:

print("No Response for the Server for TimeOut")

redSlider.valueChanged.connect(updateRedSlider)

mainLayout.addWidget(redSlider)

greenSlider = QSlider(Qt.Horizontal)

greenSlider.setMinimum(0)

greenSlider.setMaximum(100)

greenSlider.setValue(100)

greenSlider.setStyleSheet("""

QSlider::groove:horizontal {background: lightgreen; height:20px;border-radius:5px;}

QSlider::handle:horizontal {background: green; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;}

""")

greenSlider.setFixedHeight(50)

def updateGreenSlider():

global greenStrength

label.setText("Green Slider: "+str(greenSlider.value()))

label.setStyleSheet("font-size: 24px; color: green; padding:10;")

greenStrength = int(greenSlider.value()/100*255)

print("Green Strength: ",greenStrength)

cmd="greenBright:"+str(greenStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

try:

response,server_address = mySocket.recvfrom(1024)

print("Server response: ",response.decode())

except socket.timeout:

print("No Response for the Server for TimeOut")

greenSlider.valueChanged.connect(updateGreenSlider)

mainLayout.addWidget(greenSlider)

blueSlider = QSlider(Qt.Horizontal)

blueSlider.setMinimum(0)

blueSlider.setMaximum(100)

blueSlider.setValue(100)

blueSlider.setStyleSheet("""

QSlider::groove:horizontal {background: lightblue; height:20px;border-radius:5px;}

QSlider::handle:horizontal {background: blue; margin-top: -10px; margin-bottom: -10px ; height: 40;width: 20px;border-radius: 5px;}

""")

blueSlider.setFixedHeight(50)

def updateBlueSlider():

global blueStrength

label.setText("Blue Slider: "+str(blueSlider.value()))

label.setStyleSheet("font-size: 24px; color: blue; padding:10;")

blueStrength = int(blueSlider.value()/100*255)

print("Blue Strength: ",blueStrength)

cmd="blueBright:"+str(blueStrength)+"\n"

cmdEncoded=cmd.encode()

mySocket.sendto(cmdEncoded, (HOST,PORT))

try:

response,server_address = mySocket.recvfrom(1024)

print("Server response: ",response.decode())

except socket.timeout:

print("No Response for the Server for TimeOut")

blueSlider.valueChanged.connect(updateBlueSlider)

mainLayout.addWidget(blueSlider)

mainLayout.addStretch()

window.show()

sys.exit(app.exec_())

Raspberry Pi Pico, Tutorial

Powering Your Raspberry Pi Pico W from Battery for Portable Operation

May 25, 2025 admin

In this video lesson we discuss powering your Raspberry Pi Pico W projects from a battery, allowing portable operation of the project. Most all of our earlier lessons can be powered by battery, allowing the project to operate without being connected to the USB cable. In this lesson I discuss the important issues that must be considered when powering your project from battery, and particularly issues associated with powering your project from battery, but then needing to download the code. I want to explicitly explain how to do this in this lesson, so in future lessons when you see me with the battery connected to the project, you will know what I am doing.

To get started, I will demonstrate with this simple circuit, so go ahead and build this circuit:

Simple circuit to demonstrate a LED toggle

Then, we will be using this simple code:

from machine import Pin
import time
redPin=16
bluePin=17
buttonPin=19
# Initialize LED on GP16
redLED = Pin(redPin, Pin.OUT)
blueLED=Pin(bluePin,Pin.OUT)
# Initialize button on GP19 with internal pull-up resistor
button = Pin(buttonPin, Pin.IN, Pin.PULL_UP)
# Variable to track LED state
buttonState=1  # False = off, True = on
buttonStateOld=1
blueLED.on()

while True:
    # Read current button state
    buttonState = button.value()
    # Check for button press (LOW due to pull-up, button connects to ground)
    if buttonStateOld == 1 and buttonState == 0:
        # Button was pressed (falling edge)
        redLED.toggle()
        time.sleep(.2) #debounce the switch
    # Update last button state
    buttonStateOld=buttonState

from machine import Pin

import time

redPin=16

bluePin=17

buttonPin=19

# Initialize LED on GP16

redLED = Pin(redPin, Pin.OUT)

blueLED=Pin(bluePin,Pin.OUT)

# Initialize button on GP19 with internal pull-up resistor

button = Pin(buttonPin, Pin.IN, Pin.PULL_UP)

# Variable to track LED state

buttonState=1 # False = off, True = on

buttonStateOld=1

blueLED.on()

while True:

# Read current button state

buttonState = button.value()

# Check for button press (LOW due to pull-up, button connects to ground)

if buttonStateOld == 1 and buttonState == 0:

# Button was pressed (falling edge)

redLED.toggle()

time.sleep(.2) #debounce the switch

# Update last button state

buttonStateOld=buttonState

In the video, we will explain the ins and outs of now powering a project like the one above using a battery supply. Note for now though, that the wire from pin 36 to the bottom power rail establishes that rail as a 3.3 volt rail, defined by the Pi Pico.

Now, if we want to power the project remotely, that is, remove the USB cable and power from the battery, we will need to supply a suitable voltage both to the nonblinking LED (The Blue One) and the Pi Pico itself.

You can power the Pi Pico by applying a voltage to the VSYS pin, which is physical pin 39. The voltage should be between 1.8 and 5.5 volts. So, we can power the LED and the Pi Pico by connecting a suitable power supply. For our examples, I use the Sunfounder Breadvolt (AVAILABLE HERE).

However, when we connect the breadvolt to the breadboard, and we we intend to power the project by the Breadvolt, we need to adjust the wiring where instead of pin 36, we should connect pin 39 to the power rail. This is because in using the breadvolt as the power supply, it will define the voltage of the power rail, not the Pi Pico. The Pi Pico will be a USER of the rail, not the one who supplies voltage to it. So, to power the Pico, we need to connect pin 39 to the power rail instead of 36. So, in using the Breadvolt to power the project, we should use this circuit:

Notice that we now are connecting pin 39 to the Pi Pico

Now with this schematic, we can disconnect the USB, turn the breadvolt on, and power the project (Pi Pico and the Blue LED) from the breadvolt.

Now the question arises, how would we now download code to the project? The bottom line is, it is never a good idea to have two different voltages supplies connected to the rail, or for that matter connected together. So, the simple solution is, turn the breadvolt OFF, before reconnecting the USB cable. Then download the code. Then disconnect the USB cable, and then turn the breadvolt back on.

What you will see, when the breadvolt is turned off, and the USB cable is reconnected to the project, VSYS will act as an output pin, powering the blue LED. Vsys pin is connected to the USB supply by a diode. There is a small voltage drop across the diode, so the voltage at the VSYS will be around 4.8 volts.

Please watch the video as we will be giving more specific examples of how to make this work.

Raspberry Pi, Tutorial

Raspberry Pi LESSON 37: Raspberry Pi Security System

November 24, 2022 admin

In this lesson we add an audible alarm to our security system. I am connecting to a Bluetooth speaker, and then using the pygame library to play an alarm sound. The pygame library will play any .mp3 file, so search the internet and find a suitable alarm sound for your system. I amusing an air raid siren, and really like it! Below for your convenience is the code we develop in this video:

import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
PIRpin=12
GPIO.setup(PIRpin,GPIO.IN)
import LCD1602
import KPLIB
from time import sleep
import threading
myPad=KPLIB.keypad(retChar='D')
LCD1602.init(0x27,1)
myString=''
pwd='1234'

from pygame import mixer
mixer.init()
mixer.music.load('alarm.mp3')

def readKP():
    global myString
    while myString != '*':
        myString=myPad.readKeypad()
        sleep(.5)
readThread=threading.Thread(target=readKP,)
readThread.daemon=True
readThread.start()
while myString != '*':
    CMD=myString
    if CMD=='A'+pwd:
        LCD1602.write(0,0,'Armed          ')
        moveVal=GPIO.input(PIRpin)
        if moveVal==1:
            LCD1602.write(0,1,'Intruder Alert')
            mixer.music.play()
            sleep(10)
        if moveVal==0:
            LCD1602.write(0,1,'All Clear      ')
    if CMD=='B'+pwd:
        LCD1602.write(0,0,'UnArmed        ')
        LCD1602.write(0,1,'               ')
    if CMD=='C'+pwd:
        LCD1602.write(0,0,'Password?      ')
        LCD1602.write(0,1,'               ')
        while myString=='C'+pwd:
            pass
        pwd=myString
        LCD1602.write(0,0,pwd+'         ')
        sleep(2)
        LCD1602.write(0,0,'               ')
        LCD1602.clear()
sleep(1)
GPIO.cleanup()
LCD1602.clear()
print('GPIO Good to Go')

import RPi.GPIO as GPIO

GPIO.setmode(GPIO.BOARD)

PIRpin=12

GPIO.setup(PIRpin,GPIO.IN)

import LCD1602

import KPLIB

from time import sleep

import threading

myPad=KPLIB.keypad(retChar='D')

LCD1602.init(0x27,1)

myString=''

pwd='1234'

from pygame import mixer

mixer.init()

mixer.music.load('alarm.mp3')

def readKP():

global myString

while myString != '*':

myString=myPad.readKeypad()

sleep(.5)

readThread=threading.Thread(target=readKP,)

readThread.daemon=True

readThread.start()

while myString != '*':

CMD=myString

if CMD=='A'+pwd:

LCD1602.write(0,0,'Armed ')

moveVal=GPIO.input(PIRpin)

if moveVal==1:

LCD1602.write(0,1,'Intruder Alert')

mixer.music.play()

sleep(10)

if moveVal==0:

LCD1602.write(0,1,'All Clear ')

if CMD=='B'+pwd:

LCD1602.write(0,0,'UnArmed ')

LCD1602.write(0,1,' ')

if CMD=='C'+pwd:

LCD1602.write(0,0,'Password? ')

LCD1602.write(0,1,' ')

while myString=='C'+pwd:

pass

pwd=myString

LCD1602.write(0,0,pwd+' ')

sleep(2)

LCD1602.write(0,0,' ')

LCD1602.clear()

sleep(1)

GPIO.cleanup()

LCD1602.clear()

print('GPIO Good to Go')

Artificial Intelligence, OpenCV, Python, Tutorial

Improved Gesture Recognition in Python and MediaPipe

February 10, 2022 admin

In this video lesson we show you how you can improve the accuracy of your gesture recognition program developed in the last lesson. We do this by normalizing the hand landmarks distance matrix to a standard size. By doing this, you get accurate results independent of the distance your hand is from the camera. For your convenience, I include the code below which we develop in this lesson. Enjoy!

import time
import cv2
print(cv2.__version__)
import numpy as np

class mpHands:
    import mediapipe as mp
    def __init__(self,maxHands=2,tol1=.5,tol2=.5):
        self.hands=self.mp.solutions.hands.Hands(False,maxHands,tol1,tol2)
    def Marks(self,frame):
        myHands=[]
        frameRGB=cv2.cvtColor(frame,cv2.COLOR_BGR2RGB)
        results=self.hands.process(frameRGB)
        if results.multi_hand_landmarks != None:
            for handLandMarks in results.multi_hand_landmarks:
                myHand=[]
                for landMark in handLandMarks.landmark:
                    myHand.append((int(landMark.x*width),int(landMark.y*height)))
                myHands.append(myHand)
        return myHands
def findDistances(handData):
    distMatrix=np.zeros([len(handData),len(handData)],dtype='float')
    palmSize=((handData[0][0]-handData[9][0])**2+(handData[0][1]-handData[9][1])**2)**(1./2.)
    for row in range(0,len(handData)):
        for column in range(0,len(handData)):
            distMatrix[row][column]=(((handData[row][0]-handData[column][0])**2+(handData[row][1]-handData[column][1])**2)**(1./2.))/palmSize
    return distMatrix

def findError(gestureMatrix,unknownMatrix,keyPoints):
    error=0
    for row in keyPoints:
        for column in keyPoints:
            error=error+abs(gestureMatrix[row][column]-unknownMatrix[row][column])
    print(error)
    return error
def findGesture(unknownGesture,knownGestures,keyPoints,gestNames,tol):
    errorArray=[]
    for i in range(0,len(gestNames),1):
        error=findError(knownGestures[i],unknownGesture,keyPoints)
        errorArray.append(error)
    errorMin=errorArray[0]
    minIndex=0
    for i in range(0,len(errorArray),1):
        if errorArray[i]<errorMin:
            errorMin=errorArray[i]
            minIndex=i
    if errorMin<tol:
        gesture=gestNames[minIndex]
    if errorMin>=tol:
        gesture='Unknown'
    return gesture


width=1280
height=720
cam=cv2.VideoCapture(4,cv2.CAP_DSHOW)
cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cam.set(cv2.CAP_PROP_FRAME_HEIGHT,height)
cam.set(cv2.CAP_PROP_FPS, 30)
cam.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*'MJPG'))
findHands=mpHands(1)
time.sleep(5)
keyPoints=[0,4,5,9,13,17,8,12,16,20]
train=True
tol=10
trainCnt=0
knownGestures=[]

numGest=int(input('How Many Gestures Do You Want? '))

gestNames=[]

for i in range(0,numGest,1):
    prompt='Name of Gesture #'+str(i+1)+' '
    name=input(prompt)
    gestNames.append(name)
print(gestNames)

while True:
    ignore,  frame = cam.read()
    frame=cv2.resize(frame,(width,height))
    handData=findHands.Marks(frame)
    if train==True:
        if handData!=[]:
            print('Please Show Gesture ',gestNames[trainCnt],': Press t when Ready')
            if cv2.waitKey(1) & 0xff==ord('t'):
                knownGesture=findDistances(handData[0])
                knownGestures.append(knownGesture)
                trainCnt=trainCnt+1
                if trainCnt==numGest:
                    train=False
    if train == False:
        if handData!=[]:
            unknownGesture=findDistances(handData[0])
            myGesture=findGesture(unknownGesture,knownGestures,keyPoints,gestNames,tol)
            #error=findError(knownGesture,unknownGesture,keyPoints)
            cv2.putText(frame,myGesture,(100,175),cv2.FONT_HERSHEY_SIMPLEX,3,(255,0,0),8)
    for hand in handData:
        for ind in keyPoints:
            cv2.circle(frame,hand[ind],25,(255,0,255),3)
    cv2.imshow('my WEBcam', frame)
    cv2.moveWindow('my WEBcam',0,0)
    if cv2.waitKey(1) & 0xff ==ord('q'):
        break
cam.release()

100

101

102

103

104

105

import time

import cv2

print(cv2.__version__)

import numpy as np

class mpHands:

import mediapipe as mp

def __init__(self,maxHands=2,tol1=.5,tol2=.5):

self.hands=self.mp.solutions.hands.Hands(False,maxHands,tol1,tol2)

def Marks(self,frame):

myHands=[]

frameRGB=cv2.cvtColor(frame,cv2.COLOR_BGR2RGB)

results=self.hands.process(frameRGB)

if results.multi_hand_landmarks != None:

for handLandMarks in results.multi_hand_landmarks:

myHand=[]

for landMark in handLandMarks.landmark:

myHand.append((int(landMark.x*width),int(landMark.y*height)))

myHands.append(myHand)

return myHands

def findDistances(handData):

distMatrix=np.zeros([len(handData),len(handData)],dtype='float')

palmSize=((handData[0][0]-handData[9][0])**2+(handData[0][1]-handData[9][1])**2)**(1./2.)

for row in range(0,len(handData)):

for column in range(0,len(handData)):

distMatrix[row][column]=(((handData[row][0]-handData[column][0])**2+(handData[row][1]-handData[column][1])**2)**(1./2.))/palmSize

return distMatrix

def findError(gestureMatrix,unknownMatrix,keyPoints):

error=0

for row in keyPoints:

for column in keyPoints:

error=error+abs(gestureMatrix[row][column]-unknownMatrix[row][column])

print(error)

return error

def findGesture(unknownGesture,knownGestures,keyPoints,gestNames,tol):

errorArray=[]

for i in range(0,len(gestNames),1):

error=findError(knownGestures[i],unknownGesture,keyPoints)

errorArray.append(error)

errorMin=errorArray[0]

minIndex=0

for i in range(0,len(errorArray),1):

if errorArray[i]<errorMin:

errorMin=errorArray[i]

minIndex=i

if errorMin<tol:

gesture=gestNames[minIndex]

if errorMin>=tol:

gesture='Unknown'

return gesture

width=1280

height=720

cam=cv2.VideoCapture(4,cv2.CAP_DSHOW)

cam.set(cv2.CAP_PROP_FRAME_WIDTH, width)

cam.set(cv2.CAP_PROP_FRAME_HEIGHT,height)

cam.set(cv2.CAP_PROP_FPS, 30)

cam.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc(*'MJPG'))

findHands=mpHands(1)

time.sleep(5)

keyPoints=[0,4,5,9,13,17,8,12,16,20]

train=True

tol=10

trainCnt=0

knownGestures=[]

numGest=int(input('How Many Gestures Do You Want? '))

gestNames=[]

for i in range(0,numGest,1):

prompt='Name of Gesture #'+str(i+1)+' '

name=input(prompt)

gestNames.append(name)

print(gestNames)

while True:

ignore, frame = cam.read()

frame=cv2.resize(frame,(width,height))

handData=findHands.Marks(frame)

if train==True:

if handData!=[]:

print('Please Show Gesture ',gestNames[trainCnt],': Press t when Ready')

if cv2.waitKey(1) & 0xff==ord('t'):

knownGesture=findDistances(handData[0])

knownGestures.append(knownGesture)

trainCnt=trainCnt+1

if trainCnt==numGest:

train=False

if train == False:

if handData!=[]:

unknownGesture=findDistances(handData[0])

myGesture=findGesture(unknownGesture,knownGestures,keyPoints,gestNames,tol)

#error=findError(knownGesture,unknownGesture,keyPoints)

cv2.putText(frame,myGesture,(100,175),cv2.FONT_HERSHEY_SIMPLEX,3,(255,0,0),8)

for hand in handData:

for ind in keyPoints:

cv2.circle(frame,hand[ind],25,(255,0,255),3)

cv2.imshow('my WEBcam', frame)

cv2.moveWindow('my WEBcam',0,0)

if cv2.waitKey(1) & 0xff ==ord('q'):

break

cam.release()

s lesson. Enjoy!

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