Arduino code for a gesture controlled hand(made using servo motor and acclerometer).

grapper.ino

#include<Servo.h>

const int numReadings = 10;
int readings[numReadings] = {0};
int index = 0;
int total = 0;
int average = 0;
const int xPin = A0;
const int epsilon = 5;
long sensorValue = 0;
Servo sv;
int servoVal = 90,oldServoVal = 90;
int DEBUG = 1;
int sensorThreshold = 324;
int maxRightChange = 68;
int maxLeftChange = 52;
int change = 0;
int toCalibrate = 0;
void setup() 
{
  Serial.begin(9600);
  pinMode(13,OUTPUT);
  sv.attach(9);
  Serial.println("Setting Servo to 90");
  sv.write(90);
  delay(500);
  Serial.println("Servo set to 90");
  for(int thisReading = 0; thisReading < numReadings ;thisReading++)
    readings[thisReading] = 0;
  if(toCalibrate)
  {
    calibrate();
    delay(10000);
  }
}

void loop() 
{
    total -= readings[index];
    readings[index] = analogRead(xPin);  
    total += readings[index]; 
    index++;
    if(index >= numReadings)
      index = 0;
   average = total/numReadings;   
    change = (sensorThreshold - average);
    if(DEBUG)
    {
      Serial.print("Change =");
      Serial.println(change);
    }
    setServo(change);
   // delay(1000);
}
void setServo(int change)
{
  servoVal = 90;
  if(abs(change) > epsilon)
  {
     if(change < 0)
     {
       servoVal = 90 - map(-change,0,maxLeftChange,0,90);
     }
     else
     {
       servoVal = 90 + map(change,0,maxRightChange,0,90);
     }
  }
  servoVal = constrain(servoVal,0,180);
//  if(servoVal < 0)
//    servoVal = 0;
//  if(servoVal > 180)
//    servoVal = 180;
  Serial.print("ServoVal = ");
  Serial.println(servoVal);
  //if(abs(oldServoVal - servoVal) > epsilon)
      moveServo(oldServoVal,servoVal);
  oldServoVal = servoVal;
  delay(50);

  
}
void moveServo(int from,int to)
{
  if(to != from)
  {
    if(to > from)
    {
       for(double i = from; i <= to; i += ((double)(to - from))/10)
       {
         if(DEBUG)
         {
           Serial.print("Moving to = ");
           Serial.println((int)i);
         }
         sv.write((int)i);
         delay(10);
        }
     }
      else
      {
        for(double i = from; i >= to; i += ((double)(to - from))/2)
        {
         if(DEBUG)
         {
           Serial.print("Moving to = ");
           Serial.println((int)i);
         }
         sv.write((int)i);
         delay(10);
        }
      }
    }
}
  
void ledBlink()
{
  for(int i = 0; i < 3; i++)
  {
    digitalWrite(13,LOW);
    delay(1000);   
    digitalWrite(13,HIGH);
    delay(1000);
  }
  digitalWrite(13,LOW);
}

void calibrate()
{
  Serial.println("Calibration Starting.....");
  Serial.println("Getting Center Thresholds");
  loadDelay();
  sensorValue = 0;
  for(int i = 0; i < 50 ; i++)
  {
    sensorValue += analogRead(xPin);
  }
  sensorThreshold = sensorValue/50;
  change = 0;
  maxRightChange = 0;
  maxLeftChange  = 0;
  Serial.println("Getting Left Thresholds");
  loadDelay();
  for(int i = 0; i < 50 ; i++)
  {
    change = abs(sensorThreshold - analogRead(xPin));
    maxLeftChange = max(change,maxLeftChange);
  }
  Serial.println("Getting Right Threshold");
  loadDelay();
  for(int i = 0; i < 50 ; i++)
  {
    change = abs(sensorThreshold - analogRead(xPin));
    maxRightChange = max(change,maxRightChange);
  }
  Serial.println("Calibration Complete");
  Serial.print("sensorThreshold = ");
  Serial.println(sensorThreshold);
  Serial.print("maxLeftChange = ");
  Serial.println(maxLeftChange);
  Serial.print("maxRightChange = ");
  Serial.println(maxRightChange);
}
void loadDelay()
{
  for(int i = 0; i < 15; i++)
  {
    Serial.print('.');
    delay(400);
  }
  Serial.println(' ');
}  
  //326 62 70
//void calibrate()
//{
//  Serial.println("Calibration Starting.....");
//  digitalWrite(13,LOW);
//  for(int j = 0; j < 3 ; j++)
//  {
//    delay(1000);
//    ledBlink();
//    delay(3000);
//    sensorValue = 0;
//    for(int i = 0;i < 50;i++)
//    {
//      sensorValue += analogRead(xPin);
//    }
//    sensorThresholds[j] = sensorValue/50;
//  }
//}