> For the complete documentation index, see [llms.txt](https://docs.petoi.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.petoi.com/~/changes/MnaoHQ6wOvffal3XIPZR/extensible-modules/gesture-sensor.md).

# Gesture Sensor

{% embed url="<https://youtu.be/1sznhot5U0E>" %}

{% embed url="<https://youtu.be/namXLL7VmrQ>" %}

## Function introduction

The sensor features advanced gesture detection, proximity detection and digital ambient light sensing. Gesture detection can accurately sense "up, down, left and right" and more complex movements.

<figure><img src="/files/9nQnzPPuxwlYJ87fqwfF" alt=""><figcaption></figcaption></figure>

## Software setup

Install the latest version of the **Arduino\_APDS9960** library using the [Arduino IDE](https://www.arduino.cc/en/software).

<div><figure><img src="/files/mY52WauxhYpyNkmamSAq" alt=""><figcaption></figcaption></figure> <figure><img src="/files/U5gTqPNCTTFBy5t7JcLr" alt=""><figcaption></figcaption></figure></div>

The code using this sensor has been integrated into the [**OpenCat**](https://github.com/PetoiCamp/OpenCat) (NyBoard)/ [**OpenCatEsp32**](https://github.com/PetoiCamp/OpenCatEsp32) (BiBoard) project. Uncomment the line **`#define GESTURE`**  in the **OpenCat.ino / OpenCatEsp32.ino**, as shown in the figure below, and then use the [Arduino IDE](https://www.arduino.cc/en/software) to upload the sketch to the robot main board, which can reproduce the example function of integrating the robot action.

### NyBoard

#### Prepare the Arduino UNO development environment

With **NyBoard V1\_\***, you can simply choose **Arduino Uno**.&#x20;

<figure><img src="/files/4JBNM8f9Sdm40i7VCH7O" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/u8DhoHyLj2KwlDSlD2KU" alt=""><figcaption></figcaption></figure>

### BiBoard

#### [Prepare the ESP32 development environment](https://docs.petoi.com/arduino-ide/upload-sketch-for-biboard#2.1-prepare-the-esp32-development-environment)

<figure><img src="/files/mglYHV7CXUNBcYDvHIGf" alt=""><figcaption></figcaption></figure>

If you want to test the function of a gesture sensor alone or want to learn more about its principles. You can use the Arduino IDE to upload the demo sketch(**gesture.ino**), as shown below:

<figure><img src="/files/EvfsSYAB3h7mWpxNR7JO" alt=""><figcaption></figcaption></figure>

## Hardware setup

* NyBoard

After uploading the sketch, connect to the NyBoard with wire, as shown in the following picture:

<figure><img src="/files/1RHiTFCW8uuI1w76U1mi" alt=""><figcaption></figcaption></figure>

* BiBoard

<figure><img src="/files/LQ6Mqw07wwi7C1hXkW8Y" alt=""><figcaption></figcaption></figure>

For specific use, the end connected to the sensor can be fixed on the robot's head (included in Bittle's mouth or attached to the top of Nybble's head); of course, you can also use your creativity according to your needs.

This demo sketch (gesture.ino) implements real-time printing of various directional gestures (up, down, left, and right) made by the user in front of the gesture sensor in the [serial monitor](https://docs.petoi.com/arduino-ide/serial-monitor).

<figure><img src="/files/2IZJ4tVMV9wk3Axrs0ag" alt=""><figcaption></figcaption></figure>

### The demo code

{% file src="/files/q5UlGRjRDDvHT3Us09II" %}


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