Your Smart IOT

Building a Safe Cracking Robot

Wall's Corners

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Title: Building a Safe Cracking Robot
Author: Wall's Corners
Rating 5 of 5 Des:

Introduction My wife is amazing; for Christmas this year, she gave me a fire safe she purchased off of Craigslist. It was super cheap beca...

<div class="section tutorial-page">
<h2 id="introduction">Introduction</h2>
<p>My wife is amazing; for Christmas this year, she gave me a fire safe she purchased off of Craigslist. It was super cheap because the seller didn’t have the combination. Best present ever.</p>
<p>Step 1) Get a safe that hasn’t been opened.</p>
<p>Step 2) Deploy robot army.</p>
<p><a href="http://bit.ly/2pcMWfb" target="_blank"><img alt="Cracked combination safe" src="http://bit.ly/2odDqEo" /></a></p>
<p><em>Combination 24/0/66</em></p>
<p>We were able to crack our Craigslist safe in 40 minutes and 42 seconds! You can <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M" target="_blank">re-watch the live cracking</a>, if you’d like. The magic moment occurs at <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M&t=45m10s" target="_blank">45:20</a>, but start around <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M&t=44m30s" target="_blank">44:30</a> to get the full scope of what’s happening.</p>
<p><a href="http://bit.ly/2pcRX7F" target="_blank"><img alt="SparkFun Safe Cracker" src="http://bit.ly/2odOBg8" /></a></p>
<p>Brute force robots for combination safes are not new. They are sometimes called an “Autodialer”. And, the robots that use audio feedback are sometimes called “SoftDrill”. The SparkFun Safe Cracker is a variant of the Autodialer. Instead of attempting every combination in the solution domain (called brute forcing), we use some tricks to reduce the domain and shortcuts to speed up the testing process. In addition, the SparkFun Safe Cracker is cheap (~$200), magnetically adheres to the safe, and is non-destructive; when we’re done you’ll never know we were there.</p>
</div>
<div class="section tutorial-page">
<h2 id="isnt-this-a-bad-idea">Isn’t this a bad idea?</h2>
<p>We believe knowledge and education is the best protection against fear and tyranny. The SparkFun Safe Cracker is designed to open very low security combination fire safes. There are high-end, secure, expensive combination safes available that have the ability to detect and thwart this type of dialer attack. Or, you could use a keypad safe.</p>
</div>
<div class="section tutorial-page">
<h2 id="build-your-own">Build Your Own!</h2>
<p>We’ve documented and shared all the lessons we’ve learned in hopes that you can possibly build your own. You’ll need a 3D printer, soldering iron, and the ability to write code and modify 3D files to fit the type of safe you’re trying to open.</p>
<p>This is a complex build so here’s a list of documents:</p>
<ul>
<li><a href="http://bit.ly/2pd4YOt" target="_blank">Eagle files for the PCB</a></li>
<li><a href="http://bit.ly/2odF5to" target="_blank">Schematic</a></li>
<li><a href="http://bit.ly/2pd3TWW" target="_blank">Arduino based firmware</a></li>
<li><a href="http://bit.ly/2odPLrX" target="_blank">3D files</a> for the dial coupler and handle puller</li>
<li><a href="http://bit.ly/2odPLrX" target="_blank">3D model</a> of the safe</li>
<li>SparkFun <a href="http://bit.ly/2pd8bOd" target="_blank">parts list</a></li>
<li>Additional Parts:
<ul>
<li>$40 <a href="http://bit.ly/2odTsxW" target="_blank">DC gearhead motor</a></li>
<li><a href="http://bit.ly/2pcLGZy" target="_blank">Power supply connector</a></li>
<li>Three <a href="http://bit.ly/2odRMoe" target="_blank">BCA6 magnets</a> worked very well</li>
<li><a href="http://bit.ly/2pd4YOt" target="_blank">Custom PCB</a> (order from your favorite fab house)</li>
</ul>
</li>
</ul>
<p>All in all, we’ve spent about $200 on our safe cracker, which is a fraction of what professional devices cost.</p>
<p>For the latest files, check out the <a href="http://bit.ly/2pcToTP" target="_blank">repo here</a>.</p>
</div>
<div class="section tutorial-page">
<h2 id="dial-and-coupler">Dial and Coupler</h2>
<p><a href="http://bit.ly/2odTeql" target="_blank"><img alt="Dial coupler" src="http://bit.ly/2pcHeKE" /></a></p>
<p>The dial on our safe was modeled, and a coupler was 3D printed. This was attached to our motor with a <a href="http://bit.ly/2odSnWR" target="_blank">6mm clamping hub</a>. We found that hubs with set screws would loosen quickly and wreak havoc with our control algorithms. Use a clamping hub!</p>
<p>We used a motor from <a href="http://bit.ly/2odTsxW" target="_blank">Pololu</a> for $40 that has the following specs</p>
<ul>
<li>12V motor</li>
<li>350mA Free Run</li>
<li>5A stall</li>
<li>80RPM</li>
<li>8400 counts per revolution</li>
</ul>
<p>The counts per revolution was most important. We wanted a lower cost motor that had LOTS of resolution to measure the internal indents in disc C (covered in a later section). 12V was good because we had used a similar power supply and display for our <a href="https://www.youtube.com/watch?v=uC9CkhJiIaQ" target="_blank">Speed Trap</a> project.</p>
<p>The encoder uses two interrupt pins connected to the interrupt pins on the Arduino. Once we zero the dial, the step count is used to determine on which digit the dial is.</p>
<p>Quick example:</p>
<p>100 / 8400 = 84 ticks per digit 3226 steps = dial number 34</p>
<p>It’s worth noting that the tolerances of the coupler to dial and the rigidness of the hub and motor mounts are important. Any slack in the system will cause problems later.</p>
<p><strong>Home Calibration</strong></p>
<p>We tried a few different methods to calibrate the dial. Originally, we tried a reed switch with a magnet built into the 3D printed coupler. This was a horrible idea: reed switches detect relative proximity but are bad at detecting exact location. I had a few instances where the reed switch would open when the magnet was directly under the switch and close again when the magnet moved a few millimeters away. Don’t use a reed switch.</p>
<p><a href="http://bit.ly/2pd13RV" target="_blank"><img alt="Photo gate above dial coupler" src="http://bit.ly/2odTupy" /></a></p>
<p>We ended up using a photogate with a small flag designed into the coupler. It’s straightforward to detect when the gate is broken by the flag. When the robot is magnetically attached to the safe, the dial is in an unknown position. There’s an offset variable that can be set so that when you say, “go home”, the robot figures out that the flag is at dial position 43, and it needs to travel 57 more to arrive at home.</p>
<p>Once calibrated (and after lots of code revisions), we found that the control of the dial was very reliable. During cracking, we recalibrate every time we adjust disc A just to be safe.</p>
</div>
<div class="section tutorial-page">
<h2 id="handle-puller">Handle Puller</h2>
<p><a href="http://bit.ly/2pcWRBD" target="_blank"><img alt="Handle puller with nautilus gear" src="http://bit.ly/2odSpOt" /></a></p>
<p>We tried a few different methods to non-permanently attach to the handle. First, we had to model the safe handle then design and print a connector. It’s basically a shroud with an idler pin to rotate around with a 40 lbs cord attached to the end of the shroud. A small spring is used to bring the shroud and handle back to return position when the servo returns to the rest position. You don’t want to let the handle rest under its own weight or it might fall onto the dials and get caught in the indents on disc C.</p>
<p>We really wanted to use an off-the-shelf servo for cost and ease of use. A basic <a href="http://bit.ly/2pcZGm0" target="_blank">83 oz-in servo</a> worked ok, but it didn’t have enough throw to guarantee that it could pull the handle down far enough to the open position. Rob had the breakthrough: using a nautilus design we can apply increasing torque to the handle as the servo head pulls on the string. It works extremely well.</p>
<p>Additionally, we modified our servo to give us analog feedback (there are good tutorials <a href="http://bit.ly/2odOpxx" target="_blank">1</a> and <a href="http://bit.ly/2pcOnud" target="_blank">2</a> on how to do this). Analog feedback is important; when you tell the servo head to go to position 175, did it actually get there? Doing an <code>analogRead()</code> lets us know if we’ve arrived.</p>
<p>To detect if the safe is opened, we tell the servo to pull on the handle by going to PWM value 80. If we’ve dialed in the right combination, the the servo is free to fully pull down and move to this PWM value. The analog value when the handle is pulled down is approximately 273. If the servo gets blocked (wrong combination) the servo’s analog feedback will be less than 250. The <code>tryHandle()</code> function does all this for us and returns true if the analog feedback goes above 260. The PWM and analog values will be different for each robot setup, so we’ve written a few functions to manually adjust the servo to get the opening conditions.</p>
</div>
<div class="section tutorial-page">
<h2 id="brains">Brains</h2>
<p><a href="http://bit.ly/2odDqUU" target="_blank"><img alt="Robot cracking Arduino shield" src="http://bit.ly/2pcS1nV" /></a></p>
<p>We used the trusty <a href="http://bit.ly/2odTHci" target="_blank">RedBoard</a> to control everything. The Safe Cracker shield is a simple two layer PCB.</p>
<p>Bits on the shield:</p>
<ul>
<li>The 12V/5V power supply provides the power to the current sensor and motor controller.</li>
<li>Current sensor: We originally planned on using the current sensor to detect motor stall when the edge of an indent in disc C was hit. It turned out being much faster and more accurate to detect the indent edge with the encoder; if the encoder had not changed in 5 milliseconds then the motor was stopped and we had hit the edge of the indent.</li>
<li>Motor controller: 15A was more than enough to handle the motor’s 5A stall current</li>
<li>Servo connector with feedback</li>
<li>Photogate connector</li>
<li>Display connector for the <a href="http://bit.ly/2pcOpCl" target="_blank">large 6.5” 7-segment display</a> (needed only for our live stream event)</li>
<li>Buzzer to announce when we’ve cracked it</li>
<li>‘GO’ button connector if we wanted to make the apparatus headless</li>
</ul>
<p><a href="http://bit.ly/2odF5to" target="_blank"><img alt="Safe Cracker Schematic" src="http://bit.ly/2odSyl7" /></a></p>
<p><strong>Code</strong></p>
<p>You can find the firmware <a href="http://bit.ly/2pcToTP" target="_blank">here</a>. While the code to control the SparkFun Safe Cracker got a bit large, it’s fairly straight forward. In essence, we go to a given dial location, pull on the handle, see if the handle moved far enough that we’re open, repeat. Additionally, we created functions to allow us to measure, as precisely as possible, the widths of the indents on disc C.</p>
</div>
<div class="section tutorial-page">
<h2 id="frame">Frame</h2>
<p><a href="http://bit.ly/2pcPsCa" target="_blank"><img alt="alt text" src="http://bit.ly/2odTJ3U" /></a></p>
<p>To build an apparatus that could be easily and quickly attached to our safe, we first modeled the safe in 3D.</p>
<p><a href="http://bit.ly/2pcNge6" target="_blank"><img alt="alt text" src="http://bit.ly/2odF5JU" /></a></p>
<p>The frame is built with <a href="http://bit.ly/2pcUjDw" target="_blank">Actobotics parts</a> with magnets hot glued to the three feet. The magnets provide excellent adhesive strength while still being able to attach and detach the robot.</p>
<p><a href="http://bit.ly/2odOBwE" target="_blank"><img alt="alt text" src="http://bit.ly/2pcRWAL" /></a></p>
<p>The handle cover, coupler, base plate to hold the electronics, and nautilus gear were printed on our trusty <a href="http://bit.ly/2odUMRx" target="_blank">Taz 6</a> printer.</p>
<p><a href="http://bit.ly/2pd2Giy" target="_blank"><img alt="alt text" src="http://bit.ly/2pd2Giy" /></a></p>
<p>This frame is specifically designed for our model safe, but the variety of <a href="http://bit.ly/2pcUjDw" target="_blank">Actobotics parts</a> and the ability to print custom parts means the SparkFun Safe Cracker could be modified to fit any particular model of safe.</p>
</div>
<div class="section tutorial-page">
<h2 id="how-combination-safes-work">How Combination Safes Work</h2>
<p>In order to understand some of the shortcuts we took, you’ll need to know how the discs inside a combination lock operate. Here’s a quick primer!</p>
<p><a href="http://bit.ly/2odH54Z" target="_blank"><img alt="Combination lock" src="http://bit.ly/2pcLF7W" /></a></p>
<p>If you’ve ever used a combination padlock you know the basics:</p>
<ul>
<li>Spin the dial a few times to reset everything</li>
<li>Turn the dial in a certain direction until you get to the first combination number. Let’s call that AA.</li>
<li>Turn the dial in the opposite direction one full turn, then continue until you get to the second number – BB</li>
<li>Turn the dial in the opposite direction until get you get to the third number – CC</li>
<li>Pull on the handle to open lock</li>
</ul>
<p>The most common padlocks have a dial from 0 to 39 with a combination AA/BB/CC. Combination safes work exactly the same but with larger dials, usually 0 to 99. Some safes have additional combination numbers (for example: AA/BB/CC/DD/EE), but the general home-store fire safe is 3 numbers.</p>
<p>But, how do the internals of a combination safe actually work?</p>
<p>Here’s a video to show you the basics:</p>
<div class="flex-video-wrap clearfix">
<div class="flex-video widescreen img"><iframe src="https://www.youtube.com/embed/5HtdLiOqetc/?autohide=1&border=0&wmode=opaque&enablejsapi=1" width="560" height="315" frameborder="0" allowfullscreen="allowfullscreen"></iframe></div>
</div>
<p>There are three discs, let’s call them discs A, B and C. Each disc has a notch in it called a gate. When you pull down on the handle, a rod (sometimes called the fence) hits the three dials. If the three gates are lined up correctly, the rod slides into the notches. This allows the handle to travel far enough to disengage the lock on the door, and the safe can be opened.</p>
<p>Turning the dial on the outside of the lock directly controls disc C (sometimes called the drive wheel). Twist it clockwise (CW) or counterclockwise (CCW), and you directly manipulating the C disc. But, how do you move the other two discs?</p>
<p><a href="http://bit.ly/2odH6WB" target="_blank"><img alt="Combination lock discs with raised tabs" src="http://bit.ly/2pcUzlW" /></a></p>
<p><em>Discs from the inside of a fire safe</em></p>
<p>Each disc has a raised plastic tab. When the discs are next to each other, a disc can move freely for about 350 degrees until its raised tab hits the tab on the next disc and begins moving it.</p>
<p>If you turn disc C a full turn, the tab hits the tab on disc B and begins to turn it. Similarly, disc B has a tab on the opposite side of the disc that will hit disc A’s tab. Turn the dial far enough, and C will pick up and start turning B, which will then pick up and start turning A.</p>
<p>Clear as mud? Check out <a href="http://bit.ly/2odPLIt" target="_blank">Woodgears</a>. They have a great breakdown of the pieces and a video showing how the discs are manipulated.</p>
<div class="flex-video-wrap clearfix">
<div class="flex-video widescreen img"><iframe src="https://www.youtube.com/embed/CZ8WRDVgKrk/?autohide=1&border=0&wmode=opaque&enablejsapi=1" width="560" height="315" frameborder="0" allowfullscreen="allowfullscreen"></iframe></div>
</div>
</div>
<div class="section tutorial-page">
<h2 id="the-problem-domain">The Problem Domain</h2>
<p>The dial on our SafeSentry safe is 100 digits. If there are three discs, our domain is 100 * 100 * 100 or 1 million possible combinations. Testing on a safe at the store, we found it took about ten seconds on average to reset the dial then dial in the three solution numbers. So, worst case, it will take 115.74 days to try every combination. And 10 seconds is pretty fast; humans get tired and less precise over time. Luckily, there are some tricks we can do.</p>
<p>On some high-end, secure safes, if you turn the dial to 81.5 and the combination is 81, it won’t open. With these lower cost home-brand safes the manufacturing tolerances are much larger. On the safe we tried at the store if one of the numbers in the combination is 53 then 52 and 54 will also work.</p>
<div class="flex-video-wrap clearfix">
<div class="flex-video widescreen img"><iframe src="https://www.youtube.com/embed/5HtdLiOqetc/?autohide=1&border=0&wmode=opaque&enablejsapi=1" width="560" height="315" frameborder="0" allowfullscreen="allowfullscreen"></iframe></div>
</div>
<p>The first part of this video will show you the tolerances on the combination dial are +/-1 digit.</p>
<p>This quickly reduces the domain to 33 * 33 * 33 = 35,937 combinations. That’s still over 4 days of trying.</p>
<p>One of the ways to pick a safe is by feel. Manufacturers know this, so, to prevent it, the last disc (we’ll call it disc C) has a series of indents. If you press down on the handle and spin the dial, the thing trying to push down into the notches on the dials, called the <em>fence</em>, will fall into these false indents and lock up the dials. Bummer. But, you quickly figure out that there are 12 indents. And, one of these ‘indents’ must be the correct slot when you dial in the combination.</p>
<p>The problem domain is now 33 * 33 * 12 = 13,068 combinations or 1.51 days. About the speed of paint drying.</p>
<p>The locations of these indents are found easily by <a href="http://bit.ly/2dBP8pn" itemprop="url" target="_bank" title="hand"><strong>hand</strong></a>. 100 / 24 (12 indents, 12 raised bits) = 4.17 dial positions per indent. It’s not super clean, but, if an indent ranges 21 to 25.2, then it’s safe to go to 24 to ‘test’ that indent to see if it’s actually a solution slot.</p>
<p>On our safe we located the indents as follows:</p>
<div class="copy-code" data-code-id="code-0"><button class="btn btn-default btn-sm">COPY CODE</button></div>
<pre>
<code>case 0: return (99); //98 to 1 on the wheel
case 1: return (8); //6-9
case 2: return (16); //14-17
case 3: return (24); //23-26
case 4: return (33); //31-34
case 5: return (41); //39-42
case 6: return (50); //48-51
case 7: return (58); //56-59
case 8: return (66); //64-67
case 9: return (74); //73-76
case 10: return (83); //81-84
case 11: return (91); //90-93
</code>
</pre>
<p>Here’s what disc C looks like:</p>
<p><a href="http://bit.ly/2odUOJ9" target="_blank"><img alt="Disc from combination safe showing indents" src="http://bit.ly/2pd08kf" /></a></p>
<p><em>11 false gates, 1 solution gate</em></p>
<p>Disc C has the following dimensions:</p>
<ul>
<li>Outer diameter: 2.815” (55.5mm)</li>
<li>Width of solution slot: 0.239”</li>
<li>Width of 11 indents: 0.249” +/- 0.002”</li>
</ul>
<p>C = 2πr, so our circumference is 17.69”. Our motor has an 8400 tick encoder. Each encoder tick is therefore approximately 0.0021”. So, we’re looking for a difference of about 5 ticks. Eeek! That’s not many.</p>
<p>If we can externally measure the widths of the various slots, we may be able to discern which slot is the skinniest and therefor the solution slot. This would reduce our combination domain to 33 * 33 * 1 = 1,089 and a crack time of 3 hours, worst case.</p>
<p>The function <code>measureDiscC()</code> is designed to take a series of readings and add them together. The motor is a gear head motor and has a tremendous amount of torque, so, if there is any flexing or give in your apparatus, this will show up in the readings as noise. However, if we take many simultaneous readings, any flexion should be replicated to all indent measurements allowing the skinny slot to bubble to the top.</p>
<p><strong>Set screws will not work.</strong> A hub that uses a set screw to connect to the D-shaft on a motor will not survive the constant torture of indent measuring. Once we switched to a 6mm clamping hub we had much less noisy readings.</p>
<p>Here’s the output from five <code>measureDiscC()</code> tests on our Craigslist safe with no combination:</p>
<div class="copy-code" data-code-id="code-1"><button class="btn btn-default btn-sm">COPY CODE</button></div>
<pre>
<code>Measuring complete
Smallest to largest width [Width]/[Depth]
Indent 8: [1911] / [1130]
Indent 1: [1925] / [1122]
Indent 3: [1953] / [1091]
Indent 0: [1955] / [1099]
Indent 11: [1966] / [1105]
Indent 2: [1992] / [1100]
Indent 9: [1994] / [1126]
Indent 7: [2011] / [1098]
Indent 10: [2036] / [1096]
Indent 4: [2077] / [1109]
Indent 5: [2083] / [1100]
Indent 6: [2114] / [1096]
</code>
</pre>
<p>Indent 8 bubbles to the top on almost all the tests we have run on our safe. We also output the depth measurements (how far does the handle go down), but I am much more suspicious of these readings.</p>
<p>We can’t be sure the smallest indent is the solution ident, or if we’ve even measured the indents correctly so the Safe Cracker firmware allows the user to control which indents are to be tested. Turn them all on, turn on 5, or turn on only one, it’s up to you. We recommend trying to crack your safe with the smallest four indents. If you fail to open the safe then turn these 4 off, turn the other 8 indents to true, and run again.</p>
<p>We are down to 33 * 33 * 4 = 4,356 or a little over 12 hours. Still not great. What other tricks can we do?</p>
<p><strong>Quick Note:</strong> When we live streamed the safe cracking, we were conservative and selected four indents to try. The winning indent was indent 8, the skinniest indent. So with two data points, I’d say this vulnerability has potential. You can <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M" target="_blank">re-watch the stream</a> if you’d like. The magic moment occurs at <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M&t=45m10s" target="_blank">45:20</a>, but start around <a href="https://www.youtube.com/watch?v=AsVSEHv2N4M&t=44m30s" target="_blank">44:30</a> to get the full scope.</p>
</div>
<div class="section tutorial-page">
<h2 id="set-testing">Set Testing</h2>
<p>If each three combination attempt takes 10 seconds, what can we reduce the time per attempt? We can dial faster of course. But, we can also get sneaky with how we adjust the dials. It takes me 10 seconds because I can’t back up a digit without fouling where the discs are sitting. The robot can be much more precise.</p>
<p>To crack our safe, we set discs A and B, test the indents on disc C, move backwards to adjust disc B, then test the indents again. We call this <strong>set testing</strong> as opposed to reset testing (where a full reset is done between tests).</p>
<p>The robot attempts combinations this way:</p>
<ol>
<li>Reset dials by spinning CCW, past zero, continue until we arrive at zero.</li>
<li>Continue CCW to 3. This sets disc A to 3.</li>
<li>Rotate CW to 3. Continue CW to 0. Disc B is now set to 0.</li>
<li>Rotate CCW to the first allowed indent; ours is 8. Disc C is now set to 8.</li>
<li>Try the handle. Failed? Continue…</li>
<li>Rotate CCW to next allowed indent; ours is 24.</li>
<li>Try the handle. Failed? Continue…</li>
<li>Rotate CCW to next allowed indent; ours is 66.</li>
<li>Try the handle. Failed? Continue…</li>
<li>Rotate CCW to next allowed indent; ours is 74.</li>
<li>Try the handle. Failed? Continue…</li>
<li>Rotate CW to 6. Disc B is now set to 6.</li>
<li>Loop to step 4.</li>
<li>Rotate CW to 9. Disc B is now set to 9.</li>
<li>etc…</li>
</ol>
<div class="flex-video-wrap clearfix">
<div class="flex-video widescreen img"><iframe src="https://www.youtube.com/embed/5HtdLiOqetc/?autohide=1&border=0&wmode=opaque&enablejsapi=1" width="560" height="315" frameborder="0" allowfullscreen="allowfullscreen"></iframe></div>
</div>
<p>Here’s a video of set testing, done by <a href="http://bit.ly/1PhUuAm" itemprop="url" target="_bank" title="ANIMATRONIC ROBOTIC HAND"><strong>hand</strong></a>, to demonstrate what we’re talking about. Jump to 0:41 to see Set Testing in action.</p>
<p>Using this method we can test the AA/BB/xx combinations (set Disc B to 8 then test four indents) in approximately 8 seconds vs. 40 seconds (4 test @ 10s per test). Much faster!</p>
<p>Originally: 33 * 33 * 40s = 12.1 hours</p>
<p>Using Set Testing: 33 * 33 * 8.3s = 2.5 hours worst case!</p>
<p>And, if we’re confident in our single indent the test time comes down to approximately 4 seconds per test (it’s not linear because of the time to move disc B).</p>
<p>Set Testing with one indent: 33 * 33 * 4s = 1.2 hours.</p>
</div>
<div class="section tutorial-page">
<h2 id="additional-resources">Additional Resources</h2>
<p>We hope you enjoyed reading about our safe cracking robot. If you have any questions or discover any other tricks, please <a href="http://bit.ly/2pd4WWR" target="_blank">let us know</a>!</p>
<p>There are some great videos on how to crack safes, just have a poke around. Eric Schmiedl’s talk <a href="https://www.youtube.com/watch?v=4_lkYQ88kv0" target="_blank">Safecracking Without a Trace</a> at DEFCON 14 was especially good.</p>
</div>
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Building a Safe Cracking Robot

Introduction My wife is amazing; for Christmas this year, she gave me a fire safe she purchased off of Craigslist. It was super cheap beca...

Building a Safe Cracking Robot

Wall's Corners

Link Author

Title: Building a Safe Cracking Robot
Author: Wall's Corners
Rating 5 of 5 Des:

Introduction My wife is amazing; for Christmas this year, she gave me a fire safe she purchased off of Craigslist. It was super cheap beca...

Building a Safe Cracking Robot

Introduction My wife is amazing; for Christmas this year, she gave me a fire safe she purchased off of Craigslist. It was super cheap beca...

ZX Distance and Gesture Sensor Hookup Guide

Wall's Corners

Link Author

Title: ZX Distance and Gesture Sensor Hookup Guide
Author: Wall's Corners
Rating 5 of 5 Des:

Introduction The ZX Distance and Gesture Sensor is a collaboration product with XYZ Interactive . The very smart people at XYZ Interactiv...

<div class="section tutorial-page">
<h2 id="introduction">Introduction</h2>
<p>The <a href="http://bit.ly/2n4YeRk" target="_blank">ZX Distance and Gesture Sensor</a> is a collaboration product with <a href="http://bit.ly/2mPsTju" target="_blank">XYZ Interactive</a>. The very smart people at XYZ Interactive have created a unique technology that allows for simple infrared beams to be used to detect an object’s location in two dimensions.</p>
<p>The ZX Sensor is a touchless sensor that is capable of looking for simple gestures in the air above the sensor (e.g. swipe left or right). Additionally, the sensor can also recognize the distance of an object away from the sensor up to about 10 inches (25 cm), which we will call the “Z” axis, and the location of the object from side to side across the sensor in about a 6 inch (15 cm) span, which we will call the “X” axis.</p>
<p><a href="http://bit.ly/2n5lGhh" target="_blank"><img alt="The ZX Sensor" src="http://bit.ly/2n5lGhh" /></a></p>
<h3>Covered in This Tutorial</h3>
<p>We can use I<sup>2</sup>C or UART to communicate with the ZX Sensor. In this tutorial, we will show you how to connect the sensor to an <a href="http://bit.ly/26nCm2w" itemprop="url" target="_bank" title="Arduino"><strong>Arduino</strong></a> as well as a computer. The tutorial is divided into the following sections:</p>
<ul>
<li><a href="http://bit.ly/2n5921W" target="_blank">Board Overview</a> – We go over the various pins and jumper settings on the ZX Sensor.</li>
<li><a href="http://bit.ly/2mPsVrC" target="_blank">Hardware Hookup</a> – How to connect the sensor to an Arduino.</li>
<li><a href="http://bit.ly/2n5eF0a" target="_blank">Arduino Library Installation</a> – Install the ZX Sensor library if you plan to use it with an Arduino</li>
<li><a href="http://bit.ly/2mPsn58" target="_blank">Arduino: ZX Example</a> – How to read Z- and X- axis data from the sensor on an Arduino.</li>
<li><a href="http://bit.ly/2n57pkD" target="_blank">Arduino: Gesture Example</a> – How to read gestures with an Arduino.</li>
<li><a href="http://bit.ly/2mPsvBu" target="_blank">PC: ZX Example</a> – How to read Z- and X- axis data on a Windows computer.</li>
<li><a href="http://bit.ly/2n55X21" target="_blank">Resources and Going Further</a> – This section gives you some additional resources for getting more use out of the ZX Sensor.</li>
</ul>
<h3>Materials Used</h3>
<p>In addition to the sensor itself, you will need a few extra components to follow along with the Arduino examples:</p>
<div>
<div id="wish-list-113932" class="sfe-wish-list">
<div class="sfe-title"><a href="http://bit.ly/2mPuDsS" target="_blank"><strong>ZX Gesture and Distance Sensor Hookup Guide</strong> <span class="sfewl">SparkFun Wish List</span></a><br />
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<div class="sfe-row"><a href="http://bit.ly/2n4YeRk" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPsvS0" width="58" /><span class="sfe-text"><span class="sfe-item-title">ZX Distance and Gesture Sensor<span class="sfe-sku">SEN-12780</span></span><span class="sfe-description">The ZX Distance and Gesture Sensor is a touchless sensor that is capable of looking for simple gestures. Developed in conjunction with [XYZ Interactiv…</span></span></a></div>
<div class="sfe-row"><a href="http://bit.ly/2n51xYL" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPs4ad" width="58" /><span class="sfe-text"><span class="sfe-item-title">SparkFun USB Mini-B Cable – 6 Foot<span class="sfe-sku">CAB-11301</span></span><span class="sfe-description">This is a USB 2.0 type A to Mini-B 5-pin cable. You know, the mini-B connector that usually comes with USB Hubs, Cameras, MP3 players, etc. You can us…</span></span></a></div>
<div class="sfe-row"><a href="http://bit.ly/2n4Z1Sk" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPehAQ" width="58" /><span class="sfe-text"><span class="sfe-item-title">SparkFun RedBoard – Programmed with Arduino<span class="sfe-sku">DEV-12757</span></span><span class="sfe-description">At SparkFun we use many Arduinos and we’re always looking for the simplest, most stable one. Each board is a bit different and no one board has everyt…</span></span></a></div>
<div class="sfe-row"><a href="http://bit.ly/2n56JMs" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPkzQD" width="58" /><span class="sfe-text"><span class="sfe-item-title">Breadboard – Mini Modular (White)<span class="sfe-sku">PRT-12043</span></span><span class="sfe-description">This white Mini Breadboard is a great way to prototype your small projects! With 170 tie points there’s just enough room to build and test simple circ…</span></span></a></div>
<div class="sfe-row"><a href="http://bit.ly/24g3L7Y" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPnE3a" width="58" /><span class="sfe-text"><span class="sfe-item-title">Jumper Wires Premium 6″ M/M Pack of 10<span class="sfe-sku">PRT-08431</span></span><span class="sfe-description">This is a SparkFun exclusive! These are 155mm long jumpers with male connectors on both ends. Use these to jumper from any female header on any board,…</span></span></a></div>
<div class="sfe-row"><a href="http://bit.ly/2n51A6T" target="_blank"><img alt="" class="sfe-thumbnail" height="58" src="http://bit.ly/2mPcETv" width="58" /><span class="sfe-text"><span class="sfe-item-title">Break Away Headers – Straight<span class="sfe-sku">PRT-00116</span></span><span class="sfe-description">A row of headers – break to fit. 40 pins that can be cut to any size. Used with custom PCBs or general custom headers.**Features: *** Pin Style: Squar…</span></span></a></div>
<div class="sfe-footer"><a class="button" href="http://bit.ly/2mPuDsS" target="_blank">VIEW <strong>ZX GESTURE AND DISTANCE SENSOR HOOKUP GUIDE</strong> ON SPARKFUN.COM</a></div>
</div>
</div>
</div>
<p>If you would like to try the ZX Sensor on a Windows-based PC, you will need an FTDI Breakout:</p>
<div>
<div class="tile product-tile has_addl_actions grid" data-id="9716">
<div class="actions-wrap"><a class="thumb" href="http://bit.ly/2n55Wet" target="_blank"><img alt="SparkFun FTDI Basic Breakout - 5V" height="140" src="http://bit.ly/2mPCres" /></a></div>
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<h3 class="title"><a href="http://bit.ly/2n55Wet" target="_blank">SparkFun FTDI Basic Breakout – 5V</a></h3>
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<div class="prices"><span class="price price-sale calculated">$14.95</span></div>
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<p><span class="star_rating"><span class="count">87</span></span></p>
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</div>
<div class="clearfix"></div>
<h3>Recommended Reading</h3>
<p>There are a few concepts that you should be familiar with before getting started with the ZX Sensor. Consider reading some of these tutorials before continuing:</p>
<ul>
<li><a href="http://bit.ly/2mPs4qZ" target="_blank">What is an Arduino?</a> – Two of the examples use an Arduino to control the ZX Sensor</li>
<li><a href="http://bit.ly/1r9FXRc" target="_blank">I<sup>2</sup>C</a> – I<sup>2</sup>C is the one of the protocols used by the ZX Sensor</li>
<li><a href="http://bit.ly/1ToVAex" target="_blank">Serial Communication</a> – We use serial communications to program the Arduino, view debugging information, and transmit data from the ZX Sensor</li>
<li><a href="http://bit.ly/2kamGiX" target="_blank">How to Use a Breadboard</a> – The breadboard ties the Arduino to the ZX Sensor</li>
<li><a href="http://bit.ly/2mPqpS0" target="_blank">How to Install FTDI Drivers</a> – If you are programming an Arduino or using the ZX Sensor demo app, chances are you will need to use an FTDI</li>
</ul>
</div>
<div class="section tutorial-page">
<h2 id="board-overview">Board Overview</h2>
<p>The ZX Sensor works by bouncing infrared (IR) beams of <a href="http://bit.ly/1VNpzU4" itemprop="url" target="_bank" title="light"><strong>light</strong></a> from the two LEDs on either side off of an object above the sensor. The bounced <a href="http://bit.ly/1T1Ll2n" itemprop="url" target="_bank" title="Create your own musical light show with Raspberry Pi"><strong>light</strong></a> returns to the receiver in the center of the sensor, and a microcontroller on the back of the sensor interprets the data. We can read the results using an I<sup>2</sup>C or UART connection.</p>
<h3>Pin Descriptions</h3>
<p>The ZX Sensor gives us 2 ports to connect to: I<sup>2</sup>C and UART.</p>
<p><a href="http://bit.ly/2n57NQc" target="_blank"><img alt="ZX Sensor front" src="http://bit.ly/2n57NQc" /></a></p>
<center>
<table class="pin_table">
<tbody>
<tr>
<th>Pin Label</th>
<th>Description</th>
</tr>
<tr>
<td>GRN</td>
<td>Not used</td>
</tr>
<tr>
<td>TXO</td>
<td>UART transmit out from the ZX Sensor</td>
</tr>
<tr>
<td>RXI</td>
<td>UART receive. Not used at this time.</td>
</tr>
<tr>
<td>VCC</td>
<td>3.3 – 5 V power supply</td>
</tr>
<tr>
<td>GND</td>
<td>Connect to ground</td>
</tr>
<tr>
<td>BLK</td>
<td>Not used, but connected to GND</td>
</tr>
<tr>
<td>DR</td>
<td>Data Ready. High when there is data to be read via I<sup>2</sup>C</td>
</tr>
<tr>
<td>CL</td>
<td>I<sup>2</sup>C clock</td>
</tr>
<tr>
<td>DA</td>
<td>I<sup>2</sup>C data</td>
</tr>
</tbody>
</table>
</center>
<h3>Setting the Jumpers</h3>
<p>The ZX Sensor has a couple of jumpers on the back of the board that can be opened or closed with a soldering iron.</p>
<p><a href="http://bit.ly/2mPkMDw" target="_blank"><img alt="ZX Sensor back" src="http://bit.ly/2mPkMDw" /></a></p>
<p><strong>I2C Pullups</strong> – The ZX Sensor, by default, comes with 4.7 kΩ pull-up resistors on the SDA and SCL I<sup>2</sup>C lines. Remove the solder on this jumper to disconnect the pull-ups.</p>
<p><strong>I2C Addr</strong> – By default, this jumper is open. Close it to change the I<sup>2</sup>C address of the sensor.</p>
<center>
<table class="pin_table">
<tbody>
<tr>
<th>Jumper</th>
<th>I<sup>2</sup>C Address</th>
</tr>
<tr>
<td>Open</td>
<td>0x10</td>
</tr>
<tr>
<td>Closed</td>
<td>0x11</td>
</tr>
</tbody>
</table>
</center>
<h3>The Infrared Shields</h3>
<p>See those little brass tubes on the LEDs? They are needed to block any IR light going directly from the LEDs (inside the brass tubes) to the receiver (the black domed component in the center of the sensor). We want the light to bounce off an object first.</p>
<p><a href="http://bit.ly/2n58ngN" target="_blank"><img alt="LED blinders" src="http://bit.ly/2mPhBMb" /></a></p>
<p>They are held on with Super Glue. You can remove them, but it might require a bit of <a href="http://bit.ly/2n5aPUT" target="_blank">acetone</a>. If you plan to mount the ZX Sensors in your own housing, make sure IR light can’t travel directly from the sides of the LEDs to the receiver (i.e. you will want to make your own IR shields).</p>
</div>
<div class="section tutorial-page">
<h2 id="hardware-hookup">Hardware Hookup</h2>
<h3>Add Headers</h3>
<p><a href="http://bit.ly/2mPjY1B" target="_blank">Solder</a> a row of <a href="http://bit.ly/2n51A6T" target="_blank">break away male headers</a> to the 9 headers holes on the board.</p>
<p><a href="http://bit.ly/2n5kV7X" target="_blank"><img alt="Solder headers onto the ZX Sensor" src="http://bit.ly/2mPtXnw" /></a></p>
<h3>Connect the Breakout Board</h3>
<p>For the Arduino examples, we will be using I<sup>2</sup>C. Connect the breakout board to the following RedBoard pins:</p>
<p><a href="http://bit.ly/2n57ODK" target="_blank"><img alt="ZX Sensor to Arduino Fritzing diagram" src="http://bit.ly/2mPkUmp" /></a></p>
<center>
<table class="connection_table">
<tbody>
<tr>
<th>ZX Sensor</th>
<th>RedBoard</th>
</tr>
<tr>
<td>VCC</td>
<td>5V</td>
</tr>
<tr>
<td>GND</td>
<td>GND</td>
</tr>
<tr>
<td>DR</td>
<td>2</td>
</tr>
<tr>
<td>CL</td>
<td>A5</td>
</tr>
<tr>
<td>DA</td>
<td>A4</td>
</tr>
</tbody>
</table>
</center>
<br />
Note that we connect the DR pin, but we will only use it in the <a href="http://bit.ly/2n57pkD" target="_blank">Arduino: Gesture Example</a>. DR stands for “Data Ready,” which is active high whenever data is ready to be read from the ZX Sensor. We can attach this to an Arduino interrupt so we don’t have to continuously poll the sensor.
<p><a href="http://bit.ly/2n58o4l" target="_blank"><img alt="ZX Sensor connected to RedBoard" src="http://bit.ly/2mPnOYm" /></a></p>
</div>
<div class="section tutorial-page">
<h2 id="arduino-library-installation">Arduino <a href="http://bit.ly/2730gk8" itemprop="url" target="_bank" title="Library"><strong>Library</strong></a> Installation</h2>
<p>All of the hard work for the ZX Sensor is being accomplished in the microcontroller on the sensor itself. All we need to do is read the results! We have created an Arduino library to make that even easier for you. Click the button to download the latest version of the ZX Sensor Arduino Library.</p>
<p><a class="btn btn-default" href="http://bit.ly/2mPsVI8" target="_blank">DOWNLOAD THE ZX SENSOR ARDUINO LIBRARY!</a></p>
<p>Unzip the downloaded file. Follow <a href="http://bit.ly/2n5b5TE" target="_blank">this guide on installing Arduino libraries</a> to install the files as an Arduino library.</p>
</div>
<div class="section tutorial-page">
<h2 id="arduino-zx-example">Arduino: ZX Example</h2>
<h3>Load the ZX Demo</h3>
<p>Open up the Arduino program and select File → Examples → SparkFun_ZX_Distance_and_Gesture_Sensor → I2C_ZX_Demo.</p>
<p><a href="http://bit.ly/2mPs4qJ" target="_blank"><img alt="I2C ZX Demo" src="http://bit.ly/2n54Hfh" /></a></p>
<p>Attach a <a href="http://bit.ly/2n51xYL" target="_blank">USB mini</a> cable from your computer to the RedBoard. If you have not previously done so, <a href="http://bit.ly/2mPqpS0" target="_blank">install the FTDI drivers</a>.</p>
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<p>For reference, here is the <code>I2C_ZX_Demo.ino</code> sketch.</p>
<div class="copy-code" data-code-id="code-0"><button class="btn btn-default btn-sm">COPY CODE</button></div>
<pre data-language="language:c ,c">
<code class="rainbow">    <span class="comment">/****************************************************************
I2C_ZX_Demo.ino
XYZ Interactive ZX Sensor
Shawn Hymel @ SparkFun Electronics
May 6, 2015
http://bit.ly/2mPCqXW

Tests the ZX sensor's ability to read ZX data over I2C. This demo
configures the ZX sensor and periodically polls for Z-axis and X-axis data.

Hardware Connections:

Arduino Pin  ZX Sensor Board  Function
 ---------------------------------------
 5V           VCC              Power
 GND          GND              Ground
 A4           DA               I2C Data
 A5           CL               I2C Clock

Resources:
Include Wire.h and ZX_Sensor.h

Development environment specifics:
Written in Arduino 1.6.3
Tested with a SparkFun RedBoard

This code is beerware; if you see me (or any other SparkFun 
employee) at the local, and you've found our code helpful, please
buy us a round!

Distributed as-is; no warranty is given.
****************************************************************/</span>

<span class="comment">#include <Wire.h></span>
<span class="comment">#include <ZX_Sensor.h></span>

<span class="comment">// Global Variables</span>
ZX_Sensor zx_sensor <span class="keyword operator">=</span> <span class="function call">ZX_Sensor</span>(ZX_ADDR);
uint8_t x_pos;
uint8_t z_pos;

<span class="keyword">void</span> <span class="function call">setup</span>() {

uint8_t ver;

<span class="comment">// Initialize Serial port</span>
  Serial.<span class="function call">begin</span>(<span class="constant numeric">9600</span>);
  Serial.<span class="function call">println</span>();
  Serial.<span class="function call">println</span>(<span class="string">"-----------------------------------"</span>);
  Serial.<span class="function call">println</span>(<span class="string">"SparkFun/GestureSense - I2C ZX Demo"</span>);
  Serial.<span class="function call">println</span>(<span class="string">"-----------------------------------"</span>);

<span class="comment">// Initialize ZX Sensor (configure I2C and read model ID)</span>
  <span class="keyword">if</span> ( zx_sensor.<span class="function call">init</span>() ) {
    Serial.<span class="function call">println</span>(<span class="string">"ZX Sensor initialization complete"</span>);
  } <span class="keyword">else</span> {
    Serial.<span class="function call">println</span>(<span class="string">"Something went wrong during ZX Sensor init!"</span>);
  }

<span class="comment">// Read the model version number and ensure the library will work</span>
  ver <span class="keyword operator">=</span> zx_sensor.<span class="function call">getModelVersion</span>();
  <span class="keyword">if</span> ( ver <span class="keyword operator">=</span><span class="keyword operator">=</span> ZX_ERROR ) {
    Serial.<span class="function call">println</span>(<span class="string">"Error reading model version number"</span>);
  } <span class="keyword">else</span> {
    Serial.<span class="keyword">print</span>(<span class="string">"Model version: "</span>);
    Serial.<span class="function call">println</span>(ver);
  }
  <span class="keyword">if</span> ( ver <span class="keyword operator">!</span><span class="keyword operator">=</span> ZX_MODEL_VER ) {
    Serial.<span class="keyword">print</span>(<span class="string">"Model version needs to be "</span>);
    Serial.<span class="keyword">print</span>(ZX_MODEL_VER);
    Serial.<span class="keyword">print</span>(<span class="string">" to work with this library. Stopping."</span>);
    <span class="keyword">while</span>(<span class="constant numeric">1</span>);
  }

<span class="comment">// Read the register map version and ensure the library will work</span>
  ver <span class="keyword operator">=</span> zx_sensor.<span class="function call">getRegMapVersion</span>();
  <span class="keyword">if</span> ( ver <span class="keyword operator">=</span><span class="keyword operator">=</span> ZX_ERROR ) {
    Serial.<span class="function call">println</span>(<span class="string">"Error reading register map version number"</span>);
  } <span class="keyword">else</span> {
    Serial.<span class="keyword">print</span>(<span class="string">"Register Map Version: "</span>);
    Serial.<span class="function call">println</span>(ver);
  }
  <span class="keyword">if</span> ( ver <span class="keyword operator">!</span><span class="keyword operator">=</span> ZX_REG_MAP_VER ) {
    Serial.<span class="keyword">print</span>(<span class="string">"Register map version needs to be "</span>);
    Serial.<span class="keyword">print</span>(ZX_REG_MAP_VER);
    Serial.<span class="keyword">print</span>(<span class="string">" to work with this library. Stopping."</span>);
    <span class="keyword">while</span>(<span class="constant numeric">1</span>);
  }
}

<span class="keyword">void</span> <span class="function call">loop</span>() {

<span class="comment">// If there is position data available, read and print it</span>
  <span class="keyword">if</span> ( zx_sensor.<span class="function call">positionAvailable</span>() ) {
    x_pos <span class="keyword operator">=</span> zx_sensor.<span class="function call">readX</span>();
    <span class="keyword">if</span> ( x_pos <span class="keyword operator">!</span><span class="keyword operator">=</span> ZX_ERROR ) {
      Serial.<span class="keyword">print</span>(<span class="string">"X: "</span>);
      Serial.<span class="keyword">print</span>(x_pos);
    }
    z_pos <span class="keyword operator">=</span> zx_sensor.<span class="function call">readZ</span>();
    <span class="keyword">if</span> ( z_pos <span class="keyword operator">!</span><span class="keyword operator">=</span> ZX_ERROR ) {
      Serial.<span class="keyword">print</span>(<span class="string">" Z: "</span>);
      Serial.<span class="function call">println</span>(z_pos);
    }
  }
}
</code>
</pre>
<h3>Run</h3>
<p>Make sure you have the correct serial port selected under Tools → Serial Port and “Arduino Uno” selected under Tools → Board. If you have never used the Arduino IDE before, <a href="http://bit.ly/2n54I2P" target="_blank">this turoial</a> should get you started.</p>
<p>Click the Upload button and wait for the program to finish uploading to the Arduino. Select Tools → Serial Monitor to open up the serial terminal. More info on the Serial Terminal can be found <a href="http://bit.ly/2mPsw8w" target="_blank">here</a>. Note that the Serial Monitor settings are the default settings (9600, 8, n, 1). You should see a couple of messages noting that “ZX Sensor initialization complete.”</p>
<p><a href="http://bit.ly/2n5cJ7Q" target="_blank"><img alt="ZX Sensor initialization" src="http://bit.ly/2n5cJ7Q" /></a></p>
<p>Hover your <a href="http://bit.ly/2dBP8pn" itemprop="url" target="_bank" title="hand"><strong>hand</strong></a> 4 to 10 inches (10 to 25 cm) above the sensor.</p>
<p><a href="http://bit.ly/2n52uQV" target="_blank"><img alt="Move your hand above the ZX Sensor" src="http://bit.ly/2mPei7S" /></a></p>
<p>Move your <a href="http://bit.ly/1PhUuAm" itemprop="url" target="_bank" title="ANIMATRONIC ROBOTIC HAND"><strong>hand</strong></a> around above the sensor, and you should see Z (height above the sensor) and X (position side to side) appear in the serial terminal.</p>
<p><a href="http://bit.ly/2mPtiCv" target="_blank"><img alt="ZX Sensor showing position data" src="http://bit.ly/2mPtiCv" /></a></p>
<div class="alert alert-info"><b>NOTE:</b> Z- and X- data is given as an unsigned integer between 0 and 240 (inclusive).</div>
</div>
<div class="section tutorial-page">
<h2 id="arduino-gesture-example">Arduino: Gesture Example</h2>
<h3>Load the Gesture Interrupt Demo</h3>
<p>In addition to providing Z- and X- axis data about an object, the ZX Sensor is also capable of detecting simple gestures. To see an example of this, open File → Examples → SparkFun_ZX_Distance_and_Gesture_Sensor → I2C_Gesture_Interrupt.</p>
<p><a href="http://bit.ly/2n52X5B" target="_blank"><img alt="ZX Sensor Gesture Demo" src="http://bit.ly/2mPkMn0" /></a></p>
<p>Here is the <code>I2C_Gesture_Interrupt.ino</code> sketch for reference.</p>
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<pre data-language="language:c ,c">
<code class="rainbow">    <span class="comment">/****************************************************************
I2C_Gesture_Interrupt.ino
XYZ Interactive ZX Sensor
Shawn Hymel @ SparkFun Electronics
May 6, 2015
http://bit.ly/2mPCqXW

Tests the ZX sensor's ability to read gesture data over I2C using 
an interrupt pin. This program configures I2C and sets up an
interrupt to occur whenever the ZX Sensor throws its DR pin high.
The gesture is displayed along with its "speed" (how long it takes
to complete the gesture). Note that higher numbers of "speed"
indicate a slower speed.

Hardware Connections:

Arduino Pin  ZX Sensor Board  Function
 ---------------------------------------
 5V           VCC              Power
 GND          GND              Ground
 A4           DA               I2C Data
 A5           CL               I2C Clock
 2            DR               Data Ready

Resources:
Include Wire.h and ZX_Sensor.h

Development environment specifics:
Written in Arduino 1.6.3
Tested with a SparkFun RedBoard

This code is beerware; if you see me (or any other SparkFun 
employee) at the local, and you've found our code helpful, please
buy us a round!

Distributed as-is; no warranty is given.
****************************************************************/</span>

<span class="comment">#include <Wire.h></span>
<span class="comment">#include <ZX_Sensor.h></span>

<span class="comment">// Constants</span>
<span class="keyword">const</span> <span class="keyword">int</span> ZX_ADDR <span class="keyword operator">=</span> <span class="constant numeric">0x10</span>;    <span class="comment">// ZX Sensor I2C address</span>
<span class="keyword">const</span> <span class="keyword">int</span> INTERRUPT_NUM <span class="keyword operator">=</span> <span class="constant numeric">0</span>; <span class="comment">// Pin 2 on the UNO</span>

<span class="comment">// Global Variables</span>
ZX_Sensor zx_sensor <span class="keyword operator">=</span> <span class="function call">ZX_Sensor</span>(ZX_ADDR);
volatile GestureType gesture;
volatile <span class="keyword">bool</span> interrupt_flag;
uint8_t gesture_speed;

<span class="keyword">void</span> <span class="function call">setup</span>() {

uint8_t ver;

<span class="comment">// Initialize gesture to no gesture</span>
  gesture <span class="keyword operator">=</span> NO_GESTURE;

<span class="comment">// Initialize Serial port</span>
  Serial.<span class="function call">begin</span>(<span class="constant numeric">9600</span>);
  Serial.<span class="function call">println</span>();
  Serial.<span class="function call">println</span>(<span class="string">"---------------------------------------------"</span>);
  Serial.<span class="function call">println</span>(<span class="string">"SparkFun/GestureSense - I2C Gesture Interrupt"</span>);
  Serial.<span class="function call">println</span>(<span class="string">"Note: higher 'speed' numbers mean slower"</span>);
  Serial.<span class="function call">println</span>(<span class="string">"---------------------------------------------"</span>);

<span class="comment">// Initialize ZX Sensor (configure I2C and read model ID)</span>
  <span class="keyword">if</span> ( zx_sensor.<span class="function call">init</span>(GESTURE_INTERRUPTS) ) {
    Serial.<span class="function call">println</span>(<span class="string">"ZX Sensor initialization complete"</span>);
  } <span class="keyword">else</span> {
    Serial.<span class="function call">println</span>(<span class="string">"Something went wrong during ZX Sensor init!"</span>);
  }

<span class="comment">// Initialize interrupt service routine</span>
  interrupt_flag <span class="keyword operator">=</span> <span class="constant language">false</span>;
  zx_sensor.<span class="function call">clearInterrupt</span>();
  <span class="function call">attachInterrupt</span>(INTERRUPT_NUM, interruptRoutine, RISING);
  Serial.<span class="function call">println</span>(<span class="string">"Interrupts now configured. Gesture away!"</span>);
}

<span class="keyword">void</span> <span class="function call">loop</span>() {

<span class="comment">// If we have an interrupt, read and print the gesture</span>
  <span class="keyword">if</span> ( interrupt_flag ) {

<span class="comment">// Clear the interrupt flag</span>
    interrupt_flag <span class="keyword operator">=</span> <span class="constant language">false</span>;

<span class="comment">// You MUST read the STATUS register to clear interrupt!</span>
    zx_sensor.<span class="function call">clearInterrupt</span>();

<span class="comment">// Read last gesture</span>
    gesture <span class="keyword operator">=</span> zx_sensor.<span class="function call">readGesture</span>();
    gesture_speed <span class="keyword operator">=</span> zx_sensor.<span class="function call">readGestureSpeed</span>();
    <span class="keyword">switch</span> ( gesture ) {
      <span class="keyword">case</span> NO_GESTURE:
        Serial.<span class="function call">println</span>(<span class="string">"No Gesture"</span>);
        <span class="keyword">break</span>;
      <span class="keyword">case</span> RIGHT_SWIPE:
        Serial.<span class="keyword">print</span>(<span class="string">"Right Swipe. Speed: "</span>);
        Serial.<span class="function call">println</span>(gesture_speed, DEC);
        <span class="keyword">break</span>;
      <span class="keyword">case</span> LEFT_SWIPE:
        Serial.<span class="keyword">print</span>(<span class="string">"Left Swipe. Speed: "</span>);
        Serial.<span class="function call">println</span>(gesture_speed, DEC);
        <span class="keyword">break</span>;
      <span class="keyword">case</span> UP_SWIPE:
        Serial.<span class="keyword">print</span>(<span class="string">"Up Swipe. Speed: "</span>);
        Serial.<span class="function call">println</span>(gesture_speed, DEC);
        <span class="keyword">break</span>;
      default:
        <span class="keyword">break</span>;
    }
  }
}

<span class="keyword">void</span> <span class="function call">interruptRoutine</span>() {
  interrupt_flag <span class="keyword operator">=</span> <span class="constant language">true</span>;
}
</code>
</pre>
<h3>Run</h3>
<p>Upload the sketch, and open the Serial Monitor. You should see a message stating that initialization is complete.</p>
<p><a href="http://bit.ly/2n56f8V" target="_blank"><img alt="ZX Sensor Gesture initialization" src="http://bit.ly/2n56f8V" /></a></p>
<p>Start with your hand off to one side (a “side” being the one of the infrared LEDs with the brass covers) about 4 to 10 inches (10 to 25 cm) above the sensor. Swipe your hand horizontally across the sensor so that your hand passes over the one infrared LED and then the next infrared LED.</p>
<p><a href="http://bit.ly/2mPkAnF" target="_blank"><img alt="Move your hand from one side to the other" src="http://bit.ly/2n5eG4e" /></a></p>
<p>If you performed the gesture correctly, you should see a message appear in the Serial Monitor.</p>
<p><a href="http://bit.ly/2mPhBvF" target="_blank"><img alt="Performing gestures with the ZX Sensor" src="http://bit.ly/2mPhBvF" /></a></p>
<div class="alert alert-info"><b>NOTE:</b> The “Speed” of the gesture is a measure of how fast the gesture occurred. Note that the <i>lower</i> the number, the <i>faster</i> the gesture occurred (e.g. 3 being very fast and 25 being very slow).</div>
<h3>Supported Gestures</h3>
<p>Here is a list of the currently supported gestures. Make sure each gesture begins outside of the range of the sensor, moves into the range of the sensor, and ends outside the range of the sensor.</p>
<center>
<table class="gesture_table">
<tbody>
<tr>
<th>Gesture</th>
<th>Description</th>
</tr>
<tr>
<td>Right Swipe</td>
<td>A swipe from the left side of the board to the right and out of range of the sensor. Make sure that your wrist/arm is not in the sensor’s range at the end of the swipe!</td>
</tr>
<tr>
<td>Left Swipe</td>
<td>A swipe from the right side of the board to the left and out of range of the sensor.</td>
</tr>
<tr>
<td>Up Swipe</td>
<td>Object starts near the sensor, hovers for at least 1 second, and then moves up above and out of range of the sensor.</td>
</tr>
<tr>
<td>No Gesture</td>
<td>The sensor could not correctly determine the gesture being performed.</td>
</tr>
</tbody>
</table>
</center>
</div>
<div class="section tutorial-page">
<h2 id="pc-zx-example">PC: ZX Example</h2>
<p>The ZX Sensor, in addition to responding to I<sup>2</sup>C commands, continually transmits ZX data over its UART port. We can connect an <a href="http://bit.ly/2n55Wet" target="_blank">FTDI Breakout</a> directly to the ZX Sensor and read the output. You can use <a href="http://bit.ly/2mPsw8w" target="_blank">serial applications</a> or the <a href="http://bit.ly/2n57ox5" target="_blank">screen command</a> (Linux or Mac) to view the output.</p>
<div class="alert alert-info"><b>NOTE:</b> You can use either 3.3 V or 5 V FTDI. 5 V gives you a bit better range with the sensor.</div>
<p>If you are on a Windows computer, you can use the demo application (linked below) provided by XYZ Interactive to test the ZX Sensor.</p>
<h3>Setup</h3>
<p>Connect the FTDI Breakout board to the ZX Sensor. Ensure the pins on the FTDI Brekaout line up with the pins on the ZX Sensor (e.g. GRN connects to GRN and BLK connects to BLK). Connect the FTDI Breakout to your computer with a USB cable.</p>
<p><a href="http://bit.ly/2mPs7Da" target="_blank"><img alt="ZX Sensor connected to FTDI breakout board" src="http://bit.ly/2n5aOQP" /></a></p>
<p>Download the ZX Demo application, and unzip it.</p>
<p><a class="btn btn-default" href="http://bit.ly/2mPs4Y1" target="_blank">DOWNLOAD THE ZX DEMO APPLICATION</a></p>
<h3>Run</h3>
<p>Double-click to run the ZX Demo application. Under “Input:” on the right side, drop down the list and select the COM port that corresponds to your FTDI Breakout (if you need a refresher on find the right COM port, check out <a href="http://bit.ly/2n57pB9" target="_blank">this section</a> of the Terminal Basics tutorial). You do not need to choose an “Output:” port.</p>
<p>Click <strong>Open</strong> to connect to the FTDI Breakout.</p>
<p><a href="http://bit.ly/2mPtX70" target="_blank"><img alt="ZX Sensor demo application" src="http://bit.ly/2n5cKbU" /></a></p>
<p>Move your hand around above the sensor, and you should see the red ball move.</p>
<p><a href="http://bit.ly/2mPkU5T" target="_blank"><img alt="Using the ZX Sensor connected to a computer" src="http://bit.ly/2n51ThY" /></a></p>
<p>Try out the other tabs in the application! The Z-Control tab lets your try moving your hand toward and away from the sensor, and the Gestures tab computes a few different gestures based on the Z- and X- data.</p>
</div>
<div class="section tutorial-page">
<h2 id="resources-and-going-further">Resources and Going Further</h2>
<p>After trying the basic ZX and gesture demos, you can try the other examples in the Arduino library. A description of each of the examples is given below:</p>
<ul>
<li><strong>I2C_Gesture_Demo</strong> – Poll the sensor over I<sup>2</sup>C to see if any gestures have occurred.</li>
<li><strong>I2C_Gesture_Interrupt</strong> – The DR pin will go from low to high when a gesture is detected. This example reads the gesture over I2C and tells the sensor to clear DR.</li>
<li><strong>I2C_ZX_Demo</strong> – Poll the sensor periodically over I<sup>2</sup>C for Z- and X- axis data.</li>
<li><strong>I2C_ZX_Interrupt</strong> – The ZX Sensor will throw DR high whenever valid ZX data is ready.</li>
<li><strong>UART_Gesture_Demo</strong> – <strong>NOTE:</strong> Gestures over UART are not supported at this time. This demo is a placeholder for the time being.</li>
<li><strong>UART_ZX_Demo</strong> – Read Z- and X- axis data from a software serial port and display them on the Serial Monitor.</li>
</ul>
<h3>Resources</h3>
<p>Here are some additional resources to help you with the ZX Sensor:</p>
<ul>
<li><a href="http://bit.ly/2mPDsmN" target="_blank">ZX Sensor Datasheet</a></li>
<li><a href="http://bit.ly/2n4Z14M" target="_blank">Using the ZX Sensor with Arduino</a></li>
<li><a href="http://bit.ly/2mPcGL7" target="_blank">ZX Sensor Schematic</a></li>
<li><a href="http://bit.ly/2n51yMj" target="_blank">ZX Sensor GitHub Repository</a></li>
<li><a href="http://bit.ly/2mPntVR" target="_blank">ZX Sensor I2C Register Map</a></li>
</ul>
</div>
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