[피코-미디어파이프-시리얼통신][당곡고][심보민]

from machine import Pin, PWM from time import sleep import sys # 내장 LED 설정 led = Pin("LED", Pin.OUT) # 서보모터 설정 servo1 = PWM(Pin(15)) servo2 = PWM(Pin(17)) servo1.freq(50) servo2.freq(50) # 초기 각도 angle1 = 90 angle2 = 90 # 듀티 범위 MIN_DUTY = 1638 MAX_DUTY = 8100 STEP = 15 running = True def angle_to_duty(angle): return int(MIN_DUTY + (angle / 180) * (MAX_DUTY - MIN_DUTY)) def update_servos(): servo1.duty_u16(angle_to_duty(angle1)) servo2.duty_u16(angle_to_duty(angle2)) update_servos() print("시리얼 명령 대기 중...") try: while True: command = sys.stdin.readline().strip() if command == '1': led.value(1) print("LED 켜짐") elif command == '2': led.value(0) print("LED 꺼짐") elif command == '3': print("LED 깜빡이기 시작") for _ in range(5): led.toggle() sleep(0.3) led.value(0) print("LED 깜빡이기 완료") elif command == '4': if running: angle1 = (angle1 + STEP) % 180 update_servos() print(f"서보모터 1 각도: {angle1}도") elif command == '5': if running: angle2 = (angle2 + STEP) % 180 update_servos() print(f"서보모터 2 각도: {angle2}도") elif command == '6': if running: angle1 = (angle1 + STEP) % 180 angle2 = (angle2 + STEP) % 180 update_servos() print(f"서보모터 1: {angle1}도, 서보모터 2: {angle2}도") elif command == '7': # 서보모터 완전 정지 servo1.deinit() servo2.deinit() running = False print("서보모터 완전 정지됨") elif command == "8": angle1 = 90 angle2 = 90 servo1 = PWM(Pin(16)) servo2 = PWM(Pin(17)) servo1.freq(50) servo2.freq(50) update_servos() print("서보모터 초기화 (90도)") else: print("알 수 없는 명령입니다. 1~8 중 입력하세요.") except KeyboardInterrupt: servo1.deinit() servo2.deinit() print("프로그램 종료")

import cv2 import mediapipe as mp # Mediapipe 손 추적 설정 mp_hands = mp.solutions.hands mp_drawing = mp.solutions.drawing_utils hands = mp_hands.Hands( max_num_hands=1, min_detection_confidence=0.7, min_tracking_confidence=0.7 ) # 버튼 클래스 정의 class Button: def __init__(self, x, y, w, h, label): self.x, self.y, self.w, self.h = x, y, w, h self.label = label self.clicked = False def draw(self, img): color = (0, 255, 0) if self.clicked else (200, 200, 200) cv2.rectangle(img, (self.x, self.y), (self.x+self.w, self.y+self.h), color, -1) cv2.putText(img, self.label, (self.x+30, self.y+50), cv2.FONT_HERSHEY_SIMPLEX, 1.5, (0, 0, 0), 3) def check_click(self, px, py): if self.x < px < self.x + self.w and self.y < py < self.y + self.h: self.clicked = True else: self.clicked = False # 버튼 배열 생성 buttons = [] for i in range(9): x = 100 + (i % 3) * 150 y = 100 + (i // 3) * 150 buttons.append(Button(x, y, 120, 100, str(i + 1))) # 웹캠 열기 cap = cv2.VideoCapture(0) if not cap.isOpened(): print("❌ 웹캠을 열 수 없습니다.") exit() while True: ret, frame = cap.read() if not ret: print("❌ 프레임을 읽을 수 없습니다.") break frame = cv2.flip(frame, 1) # 좌우 반전 h, w, _ = frame.shape # Mediapipe용 RGB 변환 img_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) results = hands.process(img_rgb) index_x, index_y = None, None # 손 검출되었을 때 if results.multi_hand_landmarks: for hand_landmarks in results.multi_hand_landmarks: # 랜드마크 그리기 mp_drawing.draw_landmarks(frame, hand_landmarks, mp_hands.HAND_CONNECTIONS) # 검지 손가락 끝 좌표 (랜드마크 8번) index_tip = hand_landmarks.landmark[8] index_x = int(index_tip.x * w) index_y = int(index_tip.y * h) # 손끝 시각화 cv2.circle(frame, (index_x, index_y), 10, (255, 0, 255), -1) # 버튼 클릭 체크 for button in buttons: button.check_click(index_x, index_y) # 버튼 그리기 for button in buttons: button.draw(frame) # 화면 출력 cv2.imshow("Hand Button Interface", frame) # 종료 조건 if cv2.waitKey(1) & 0xFF == ord('q'): break # 종료 처리 cap.release() cv2.destroyAllWindows() hands.close()