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let isConnected = false;let handX;let handY;let video;let handpose;let obstacleDetected = false;let carMovingBack = false;let programStarted = false; // Variable to track if the program has startedlet instructionsImage;let introImage;let main;function preload() { // Load the instructions image instructionsImage = loadImage('instructions.png'); introImage = loadImage('introscreen-1.png'); main= loadImage('MAIN-1.png')}function keyPressed() { // Check if the "s" key is pressed if (!programStarted) { if (key === 'i' || key === 'I') { // Show instructions if (introScreenActive) { instructions(); } } else if (key === 's' || key === 'S') { // Start the program programStarted = true; startRobot(); } }}let introScreenActive = true; //Create video capture from the webcamfunction setup() { createCanvas(800, 600); // Setup serial connection serial = new p5.SerialPort(); serial.on('connected', () => { isConnected = true; console.log('Connected to Arduino'); }); serial.on('error', () => { isConnected = false; console.log('Error connecting to Arduino'); }); serial.open('/dev/tty.usbmodem11201', { baudRate: 9600 }); serial.on('data', () => { // Read incoming data from Arduino if needed }); video = createCapture(VIDEO); video.size(400, 400); video.hide(); // Load the hand tracking model handpose = ml5.handpose(video, startRobot); handpose.on('predict', gotHands);}function introScreen() { image(introImage, 0, 0, width, height); if (introScreenActive && (keyIsPressed && (key === 'i' || key === 'I'))) { // Check for "i" or "I" key press instructions(); }}function instructions() { introScreenActive = false; image(main, 0, 0, width, height);}function draw() { if (!programStarted) { introScreen(); return; // Exit the draw function if the program has not started } image(main, 0, 0, width, height); if (handX && handY) { // Display the position of the tracked hand ellipse(handX, handY, 50); // Determine the movement based on the hand position if (handY > height / 2) { if (handX < width / 3) { moveLeft(); fill(255, 255, 0); // Yellow color for the left direction } else if (handX < 2 * width / 3) { moveBackward(); fill(255, 0, 0); // Red color for the backward direction } else { moveRight(); fill(0, 0, 255); // Blue color for the right direction } } else { moveForward(); fill(0, 255, 0); // Green color for the forward direction } } else { stopRobot(); fill(255); // White color for no movement } // Check if hands are out of the frame if (handX < 0 || handX > width || handY < 0 || handY > height) { stopRobot(); fill(255); // White color for no movement } // Check for obstacle detection if (obstacleDetected && !carMovingBack) {fill(255, 0, 0); // Red color for the obstacle warningtextSize(32);textAlign(CENTER, CENTER);text('There is an obstacle ahead!', width / 2, height - 50);} else {// Clear the obstacle detectionobstacleDetected = false;}}function gotHands(results = []) {if (!programStarted && results.length > 0) {const hand = results[0].annotations.indexFinger[3];handX = hand[0];handY = hand[1]; // Start the program when hand is detected and 's' is pressedif (handX && handY && keyIsPressed && (key === 's' || key === 'S')) { programStarted = true; startRobot();}} else if (results.length > 0) {const hand = results[0].annotations.indexFinger[3];handX = hand[0];handY = hand[1];} else {handX = null;handY = null;}}function moveLeft() {if (isConnected) {serial.write('L');}}function moveRight() {if (isConnected) {serial.write('R');}}function moveForward() {if (isConnected) {serial.write('U');}}function moveBackward() {if (isConnected) {serial.write('D');}}function stopRobot() {if (isConnected) {serial.write('S');}}function startRobot() {// Start the robot movement when the hand tracking model is readyconsole.log('Hand tracking model loaded');}// Function to detect obstaclefunction detectObstacle() {obstacleDetected = true;carMovingBack = true;}// Function to stop obstacle detectionfunction stopObstacleDetection() {obstacleDetected = false;carMovingBack = false;}