captureFrame.java

public JSONObject handleHand(Hand hand){
    boolean isLeft   = hand.isLeft();
    String handName  = (isLeft) ? "left" : "right";

    Vector direction = hand.direction();

    int yaw   = (int) Math.toDegrees(direction.yaw());
    int pitch = (int) Math.toDegrees(direction.pitch());

    // Normalize Yaw and Pitch
    yaw    = normalizeDegree(yaw);
    pitch *= (isLeft) ? -1 : 1;
    pitch  = normalizeDegree(pitch);

    // Get PWM Values
    yaw   = (int) yawDegreeToPWM(yaw);
    pitch = (int) pitchDegreeToPWM(pitch);

    JSONObject payload = new JSONObject();
    int theByte = fingersToByte(hand);
    int oldYaw    = (isLeft) ? oldLeftYaw   : oldRightYaw;
    int oldPitch  = (isLeft) ? oldLeftPitch : oldRightPitch;
    if( (Math.abs(oldPitch - pitch) > 5)  || (Math.abs(oldYaw - yaw) > 5) ) {
        try {
            payload.put(handName + "_yaw",   yaw);
            payload.put(handName + "_pitch", pitch);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        if (isLeft) {
            this.oldLeftYaw   = yaw;
            this.oldLeftPitch = pitch;
        } else {
            this.oldRightYaw   = yaw;
            this.oldRightPitch = pitch;
        }
    }
    else{
        try {
            payload.put(handName + "_yaw", oldYaw);
            payload.put(handName + "_pitch", oldPitch);
        } catch (JSONException e) {
            e.printStackTrace();
        }
    }
    return payload;
}

public void captureFrame(Controller controller) {
    // Get the most recent frame and report some basic information
    Frame frame = controller.frame();
    JSONObject payload = new JSONObject();
    for (Hand hand : frame.hands()) {
        try {
            if (hand.isLeft()) {
                payload.put("left_hand", handleHand(hand));
            } else {
                payload.put("right_hand", handleHand(hand));
            }
        } catch (JSONException e) {
            e.printStackTrace();
        }
    }
    if(!payload.toString().equals("{}")) {
        pubnub.publish()
        .message(payload)
        .channel(CHANNEL)
        .async(new PNCallback<PNPublishResult>() {
            @Override
            public void onResponse(PNPublishResult result, PNStatus status) {
                // handle publish result, status always present, result if successful
                // status.isError to see if error happened
            }
        });
    }

}