1. How to use Leap Sensor to control ground Rovers
Rahul A Thawal, Sriteja Nallamilli
MAY 2015
1 Functionality
Basically using Leap sensor anyone can use rover i.e. ground robot for basic
functionality such as forward, reverse, left, right, stop. Leap motion has inbuilt
library which we can use to control rovers. For example in java it has gesture
class which represents a recognized movement by users. Gesture Subclasses
include CircleGesture, SwipeGesture, ScreenTapGesture, KeyTapGesture.
2 CircleGesture
We used this class specifically for moving Rover left or Right. For example if
user wants rover to go left then rotate finger clockwise directions. For right user
needs to rotate finger counter-clockwise directions.
3 SwipeGesture
Move your right hand upward to move rover Forward, downward for reverse.
Basically it is Y axis for moving forward, reverse. Sometimes the Key, Screen
Tap Gestures does not work so we decided to use X axis to stop the rover. So
when user wants to stop the rover move *left hand to either left/right.
4 ScreenTapGesture
A screen tap gesture is recognized when the tip of a finger pokes forward and
then springs back to approximately the original position, as if tapping a vertical
screen. The tapping finger must pause briefly before beginning the tap. This is
used to stop the rover.
5 keyTapGesture
A key tap gesture is recognized when the tip of a finger rotates down toward
the palm and then springs back to approximately the original position, as if
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2. tapping. The tapping finger must pause briefly before beginning the tap. Used
to stop the rover.
6 NOTE
We could have used X,Y,Z axis of Leap Motion to control this basic movement
but sometimes it is not very precise so rover gets confused. This in build library
does the job perfectly and chances of error is comparatively less. But still X,Y
axis are helpful.
7 REFERENCES
https://developer.leapmotion.com/documentation/cpp/api/Leap.SwipeGesture.html
https://developer.leapmotion.com/documentation/python/api/Leap.CircleGesture.html
https://developer.leapmotion.com/documentation/python/api/Leap.KeyTapGesture.html
https://developer.leapmotion.com/documentation/python/api/Leap.ScreenTapGesture.html
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