如何使用树莓派控制手势传感器PAJ7620
发表于：2026-11-03 作者：千家信息网编辑
千家信息网最后更新 2026年11月03日，如何使用树莓派控制手势传感器PAJ7620，很多新手对此不是很清楚，为了帮助大家解决这个难题，下面小编将为大家详细讲解，有这方面需求的人可以来学习下，希望你能有所收获。模块说明PAJ7620传感器是原
千家信息网最后更新 2026年11月03日如何使用树莓派控制手势传感器PAJ7620
如何使用树莓派控制手势传感器PAJ7620，很多新手对此不是很清楚，为了帮助大家解决这个难题，下面小编将为大家详细讲解，有这方面需求的人可以来学习下，希望你能有所收获。
模块说明
PAJ7620传感器是原相科技(Pixart)的一款内部集成光学阵列式传感器，以使复杂的手势和光标模式输出，内部集成了九种手势的识别：上、下、左、右、向前、向后、顺时针、逆时针以及挥动的手势动作识别、模块以i2c通信，传感器功能很强大，更详细模块说明的可参考数据手册。
硬件连接
VCC -> Pin1
GND -> Pin6
SDA -> Pin3
SCL -> Pin5
INT -> 目前使用查询方式，可不接。
软件实现
#!/usr/bin/env python## GrovePi Library for using the Grove - Gesture Sensor v1.0(http://www.seeedstudio.com/depot/Grove-Gesture-p-2463.html)## The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi## Have a question about this library? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi## History# ------------------------------------------------# Author Date Comments# Karan 31 Dec 15 Initial Authoring# Lambor 11 July 18 Use smbus2## Code derived from the basic Arduino library for the Gesture Sensor by Seeed: https://github.com/Seeed-Studio/Gesture_PAJ7620'''## LicenseThe MIT License (MIT)GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.Copyright (C) 2017 Dexter IndustriesPermission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to dealin the Software without restriction, including without limitation the rightsto use, copy, modify, merge, publish, distribute, sublicense, and/or sellcopies of the Software, and to permit persons to whom the Software isfurnished to do so, subject to the following conditions:The above copyright notice and this permission notice shall be included inall copies or substantial portions of the Software.THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS ORIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THEAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHERLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS INTHE SOFTWARE.'''import time,sysimport RPi.GPIO as GPIO#from grove.i2c import Busfrom smbus import SMBus# use the bus that matches your raspi versionrev = GPIO.RPI_REVISIONif rev == 2 or rev == 3: bus = SMBus(1)# bus = Bus(1)else: bus = SMBus(0)# bus = Bus(0)class gesture: #Registers and variables for the gesture sensor GES_REACTION_TIME =.500 # You can adjust the reaction time according to the actual circumstance. GES_ENTRY_TIME =.800 # When you want to recognize the Forward/Backward gestures, your gestures' reaction time must less than GES_ENTRY_TIME(0.8s). GES_QUIT_TIME =1.000 BANK0 = 0 BANK1 = 1 PAJ7620_ADDR_BASE =0x00 #REGISTER BANK SELECT PAJ7620_REGITER_BANK_SEL =(PAJ7620_ADDR_BASE + 0xEF) #W #DEVICE ID PAJ7620_ID =0x73 #REGISTER BANK 0 PAJ7620_ADDR_SUSPEND_CMD =(PAJ7620_ADDR_BASE + 0x3) #W PAJ7620_ADDR_GES_PS_DET_MASK_0 =(PAJ7620_ADDR_BASE + 0x41) #RW PAJ7620_ADDR_GES_PS_DET_MASK_1 =(PAJ7620_ADDR_BASE + 0x42) #RW PAJ7620_ADDR_GES_PS_DET_FLAG_0 =(PAJ7620_ADDR_BASE + 0x43) #R PAJ7620_ADDR_GES_PS_DET_FLAG_1 =(PAJ7620_ADDR_BASE + 0x44) #R PAJ7620_ADDR_STATE_INDICATOR =(PAJ7620_ADDR_BASE + 0x45) #R PAJ7620_ADDR_PS_HIGH_THRESHOLD =(PAJ7620_ADDR_BASE + 0x69) #RW PAJ7620_ADDR_PS_LOW_THRESHOLD =(PAJ7620_ADDR_BASE + 0x6A) #RW PAJ7620_ADDR_PS_APPROACH_STATE =(PAJ7620_ADDR_BASE + 0x6B) #R PAJ7620_ADDR_PS_RAW_DATA =(PAJ7620_ADDR_BASE + 0x6C) #R #REGISTER BANK 1 PAJ7620_ADDR_PS_GAIN =(PAJ7620_ADDR_BASE + 0x44) #RW PAJ7620_ADDR_IDLE_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x67) #RW PAJ7620_ADDR_IDLE_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x68) #RW PAJ7620_ADDR_IDLE_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x69) #RW PAJ7620_ADDR_IDLE_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6A) #RW PAJ7620_ADDR_OP_TO_S1_STEP_0 =(PAJ7620_ADDR_BASE + 0x6B) #RW PAJ7620_ADDR_OP_TO_S1_STEP_1 =(PAJ7620_ADDR_BASE + 0x6C) #RW PAJ7620_ADDR_OP_TO_S2_STEP_0 =(PAJ7620_ADDR_BASE + 0x6D) #RW PAJ7620_ADDR_OP_TO_S2_STEP_1 =(PAJ7620_ADDR_BASE + 0x6E) #RW PAJ7620_ADDR_OPERATION_ENABLE =(PAJ7620_ADDR_BASE + 0x72) #RW #PAJ7620_REGITER_BANK_SEL PAJ7620_BANK0=0 PAJ7620_BANK1=1 #PAJ7620_ADDR_SUSPEND_CMD PAJ7620_I2C_WAKEUP =1 PAJ7620_I2C_SUSPEND =0 #PAJ7620_ADDR_OPERATION_ENABLE PAJ7620_ENABLE=1 PAJ7620_DISABLE=0 #ADC, delete REG_ADDR_RESULT = 0x00 REG_ADDR_ALERT = 0x01 REG_ADDR_CONFIG = 0x02 REG_ADDR_LIMITL = 0x03 REG_ADDR_LIMITH = 0x04 REG_ADDR_HYST = 0x05 REG_ADDR_CONVL = 0x06 REG_ADDR_CONVH = 0x07 GES_RIGHT_FLAG =1<<0 GES_LEFT_FLAG =1<<1 GES_UP_FLAG =1<<2 GES_DOWN_FLAG =1<<3 GES_FORWARD_FLAG =1<<4 GES_BACKWARD_FLAG =1<<5 GES_CLOCKWISE_FLAG =1<<6 GES_COUNT_CLOCKWISE_FLAG =1<<7 GES_WAVE_FLAG =1<<0 #Gesture output FORWARD = 1 BACKWARD = 2 RIGHT = 3 LEFT = 4 UP = 5 DOWN = 6 CLOCKWISE = 7 ANTI_CLOCKWISE = 8 WAVE = 9 #Initial register state initRegisterArray=( [0xEF,0x00], [0x32,0x29], [0x33,0x01], [0x34,0x00], [0x35,0x01], [0x36,0x00], [0x37,0x07], [0x38,0x17], [0x39,0x06], [0x3A,0x12], [0x3F,0x00], [0x40,0x02], [0x41,0xFF], [0x42,0x01], [0x46,0x2D], [0x47,0x0F], [0x48,0x3C], [0x49,0x00], [0x4A,0x1E], [0x4B,0x00], [0x4C,0x20], [0x4D,0x00], [0x4E,0x1A], [0x4F,0x14], [0x50,0x00], [0x51,0x10], [0x52,0x00], [0x5C,0x02], [0x5D,0x00], [0x5E,0x10], [0x5F,0x3F], [0x60,0x27], [0x61,0x28], [0x62,0x00], [0x63,0x03], [0x64,0xF7], [0x65,0x03], [0x66,0xD9], [0x67,0x03], [0x68,0x01], [0x69,0xC8], [0x6A,0x40], [0x6D,0x04], [0x6E,0x00], [0x6F,0x00], [0x70,0x80], [0x71,0x00], [0x72,0x00], [0x73,0x00], [0x74,0xF0], [0x75,0x00], [0x80,0x42], [0x81,0x44], [0x82,0x04], [0x83,0x20], [0x84,0x20], [0x85,0x00], [0x86,0x10], [0x87,0x00], [0x88,0x05], [0x89,0x18], [0x8A,0x10], [0x8B,0x01], [0x8C,0x37], [0x8D,0x00], [0x8E,0xF0], [0x8F,0x81], [0x90,0x06], [0x91,0x06], [0x92,0x1E], [0x93,0x0D], [0x94,0x0A], [0x95,0x0A], [0x96,0x0C], [0x97,0x05], [0x98,0x0A], [0x99,0x41], [0x9A,0x14], [0x9B,0x0A], [0x9C,0x3F], [0x9D,0x33], [0x9E,0xAE], [0x9F,0xF9], [0xA0,0x48], [0xA1,0x13], [0xA2,0x10], [0xA3,0x08], [0xA4,0x30], [0xA5,0x19], [0xA6,0x10], [0xA7,0x08], [0xA8,0x24], [0xA9,0x04], [0xAA,0x1E], [0xAB,0x1E], [0xCC,0x19], [0xCD,0x0B], [0xCE,0x13], [0xCF,0x64], [0xD0,0x21], [0xD1,0x0F], [0xD2,0x88], [0xE0,0x01], [0xE1,0x04], [0xE2,0x41], [0xE3,0xD6], [0xE4,0x00], [0xE5,0x0C], [0xE6,0x0A], [0xE7,0x00], [0xE8,0x00], [0xE9,0x00], [0xEE,0x07], [0xEF,0x01], [0x00,0x1E], [0x01,0x1E], [0x02,0x0F], [0x03,0x10], [0x04,0x02], [0x05,0x00], [0x06,0xB0], [0x07,0x04], [0x08,0x0D], [0x09,0x0E], [0x0A,0x9C], [0x0B,0x04], [0x0C,0x05], [0x0D,0x0F], [0x0E,0x02], [0x0F,0x12], [0x10,0x02], [0x11,0x02], [0x12,0x00], [0x13,0x01], [0x14,0x05], [0x15,0x07], [0x16,0x05], [0x17,0x07], [0x18,0x01], [0x19,0x04], [0x1A,0x05], [0x1B,0x0C], [0x1C,0x2A], [0x1D,0x01], [0x1E,0x00], [0x21,0x00], [0x22,0x00], [0x23,0x00], [0x25,0x01], [0x26,0x00], [0x27,0x39], [0x28,0x7F], [0x29,0x08], [0x30,0x03], [0x31,0x00], [0x32,0x1A], [0x33,0x1A], [0x34,0x07], [0x35,0x07], [0x36,0x01], [0x37,0xFF], [0x38,0x36], [0x39,0x07], [0x3A,0x00], [0x3E,0xFF], [0x3F,0x00], [0x40,0x77], [0x41,0x40], [0x42,0x00], [0x43,0x30], [0x44,0xA0], [0x45,0x5C], [0x46,0x00], [0x47,0x00], [0x48,0x58], [0x4A,0x1E], [0x4B,0x1E], [0x4C,0x00], [0x4D,0x00], [0x4E,0xA0], [0x4F,0x80], [0x50,0x00], [0x51,0x00], [0x52,0x00], [0x53,0x00], [0x54,0x00], [0x57,0x80], [0x59,0x10], [0x5A,0x08], [0x5B,0x94], [0x5C,0xE8], [0x5D,0x08], [0x5E,0x3D], [0x5F,0x99], [0x60,0x45], [0x61,0x40], [0x63,0x2D], [0x64,0x02], [0x65,0x96], [0x66,0x00], [0x67,0x97], [0x68,0x01], [0x69,0xCD], [0x6A,0x01], [0x6B,0xB0], [0x6C,0x04], [0x6D,0x2C], [0x6E,0x01], [0x6F,0x32], [0x71,0x00], [0x72,0x01], [0x73,0x35], [0x74,0x00], [0x75,0x33], [0x76,0x31], [0x77,0x01], [0x7C,0x84], [0x7D,0x03], [0x7E,0x01]) #Enable debug message debug=0 #Initialize the sensors def init(self): time.sleep(.001) self.paj7620SelectBank(self.BANK0) self.paj7620SelectBank(self.BANK0) data0 = self.paj7620ReadReg(0, 1)[0] data1 = self.paj7620ReadReg(1, 1)[0] if self.debug: print("data0:",data0,"data1:",data1) if data0 != 0x20 :#or data1 <> 0x76: print("Error with sensor") #return 0xff if data0 == 0x20: print("wake-up finish.") for i in range(len(self.initRegisterArray)): self.paj7620WriteReg(self.initRegisterArray[i][0],self.initRegisterArray[i][1]) self.paj7620SelectBank(self.BANK0) print("Paj7620 initialize register finished.") #Write a byte to a register on the Gesture sensor def paj7620WriteReg(self,addr,cmd): bus.write_word_data(self.PAJ7620_ID, addr, cmd) #Select a register bank on the Gesture Sensor def paj7620SelectBank(self,bank): if bank==self.BANK0: self.paj7620WriteReg(self.PAJ7620_REGITER_BANK_SEL, self.PAJ7620_BANK0) #Read a block of bytes of length "qty" starting at address "addr" from the Gesture sensor def paj7620ReadReg(self,addr,qty): return bus.read_i2c_block_data(self.PAJ7620_ID, addr,qty) #Print the values from the gesture sensor def print_gesture(self): data=self.paj7620ReadReg(0x43,1)[0] if data==self.GES_RIGHT_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: print("Forward") time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: print("Backward") time.sleep(self.GES_QUIT_TIME) else: print("Right") elif data==self.GES_LEFT_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: print("Forward") time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: print("Backward") time.sleep(self.GES_QUIT_TIME) else: print("Left") elif data==self.GES_UP_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: print("Forward") time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: print("Backward") time.sleep(self.GES_QUIT_TIME) else: print("Up") elif data==self.GES_DOWN_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: print("Forward") time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: print("Backward") time.sleep(self.GES_QUIT_TIME) else: print("Down") elif data==self.GES_FORWARD_FLAG: print("Forward") time.sleep(self.GES_QUIT_TIME) elif data==self.GES_BACKWARD_FLAG: print("Backward") time.sleep(self.GES_QUIT_TIME) elif data==self.GES_CLOCKWISE_FLAG: print("Clockwise") elif data==self.GES_COUNT_CLOCKWISE_FLAG: print("anti-clockwise") else: data1=self.paj7620ReadReg(0x44, 1)[0] if (data1 == self.GES_WAVE_FLAG): print("wave") #Return a vlaue from the gestire sensor which can be used in a program # 0:nothing # 1:Forward # 2:Backward # 3:Right # 4:Left # 5:Up # 6:Down # 7:Clockwise # 8:anti-clockwise # 9:wave def return_gesture(self): data=self.paj7620ReadReg(0x43,1)[0] if data==self.GES_RIGHT_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: return 1 time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: return 2 time.sleep(self.GES_QUIT_TIME) else: return 3 elif data==self.GES_LEFT_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: return 1 time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: return 2 time.sleep(self.GES_QUIT_TIME) else: return 4 elif data==self.GES_UP_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: return 1 time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: return 2 time.sleep(self.GES_QUIT_TIME) else: return 5 elif data==self.GES_DOWN_FLAG: time.sleep(self.GES_ENTRY_TIME) data=self.paj7620ReadReg(0x43, 1)[0] if data == self.GES_FORWARD_FLAG: return 1 time.sleep(self.GES_QUIT_TIME) elif data == self.GES_BACKWARD_FLAG: return 2 time.sleep(self.GES_QUIT_TIME) else: return 6 elif data==self.GES_FORWARD_FLAG: return 1 time.sleep(self.GES_QUIT_TIME) elif data==self.GES_BACKWARD_FLAG: return 2 time.sleep(self.GES_QUIT_TIME) elif data==self.GES_CLOCKWISE_FLAG: return 7 elif data==self.GES_COUNT_CLOCKWISE_FLAG: return 8 else: data1=self.paj7620ReadReg(0x44, 1)[0] if (data1 == self.GES_WAVE_FLAG): return 9 return 0 if __name__ == "__main__": g=gesture() g.init() while True: g.print_gesture() time.sleep(.1) # print g.return_gesture() # time.sleep(.1)运行效果如下：
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传感器
手势
模块
帮助
树莓
控制
复杂
强大
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