Kristen Fernandez / Mbed 2 deprecated FINAL_PROJECT

Final version of project

Dependencies:   FSR LSM9DS1_Library_cal USBMIDI mbed

Fork of LSM9DS1_Demo_wCal by jim hamblen

main.cpp@1:a81deeb5ba58, 2016-04-29 (annotated)

Committer:
KrissyHam
Date:
Fri Apr 29 01:47:18 2016 +0000
Revision:
1:a81deeb5ba58
Parent:
0:e693d5bf0a25
Child:
2:82b2a1e84586
Final version of project

Who changed what in which revision?

UserRevisionLine numberNew contents of line
4180_1 0:e693d5bf0a25 1 #include "mbed.h"
KrissyHam 1:a81deeb5ba58 2 #include "USBMIDI.h"
4180_1 0:e693d5bf0a25 3 #include "LSM9DS1.h"
KrissyHam 1:a81deeb5ba58 4 #include "math.h"
KrissyHam 1:a81deeb5ba58 5 #include "FSR.h"
KrissyHam 1:a81deeb5ba58 6
4180_1 0:e693d5bf0a25 7 #define PI 3.14159
KrissyHam 1:a81deeb5ba58 8 #define BUFFERSIZE 6
KrissyHam 1:a81deeb5ba58 9
4180_1 0:e693d5bf0a25 10 // Earth's magnetic field varies by location. Add or subtract
4180_1 0:e693d5bf0a25 11 // a declination to get a more accurate heading. Calculate
4180_1 0:e693d5bf0a25 12 // your's here:
4180_1 0:e693d5bf0a25 13 // http://www.ngdc.noaa.gov/geomag-web/#declination
4180_1 0:e693d5bf0a25 14 #define DECLINATION -4.94 // Declination (degrees) in Atlanta,GA.
4180_1 0:e693d5bf0a25 15
KrissyHam 1:a81deeb5ba58 16 // FSR
KrissyHam 1:a81deeb5ba58 17 FSR fsr_kick(p20, 10); // Pin 20 is used as the AnalogIn pin and a 10k resistor is used as a voltage divider
KrissyHam 1:a81deeb5ba58 18 FSR fsr_hh(p19, 10); // Pin 19 is used as the AnalogIn pin and a 10k resistor is used as a voltage divider
KrissyHam 1:a81deeb5ba58 19 bool hh_close = false; // boolean to determine if hi-hat is closed or open
KrissyHam 1:a81deeb5ba58 20 bool kicked = false;
KrissyHam 1:a81deeb5ba58 21
KrissyHam 1:a81deeb5ba58 22 // IMU
KrissyHam 1:a81deeb5ba58 23 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
KrissyHam 1:a81deeb5ba58 24 LSM9DS1 IMU2(p28, p27, 0xD6, 0x3C);
KrissyHam 1:a81deeb5ba58 25
KrissyHam 1:a81deeb5ba58 26 //uLCD_4DGL uLCD(p28,p27,p30); // serial tx, serial rx, reset pin;
4180_1 0:e693d5bf0a25 27 Serial pc(USBTX, USBRX);
KrissyHam 1:a81deeb5ba58 28 DigitalOut led1(LED1);
KrissyHam 1:a81deeb5ba58 29 DigitalOut led2(LED2);
KrissyHam 1:a81deeb5ba58 30 DigitalOut led3(LED3);
KrissyHam 1:a81deeb5ba58 31 DigitalOut led4(LED4);
KrissyHam 1:a81deeb5ba58 32
KrissyHam 1:a81deeb5ba58 33 Timer t;
KrissyHam 1:a81deeb5ba58 34 float t_prev = 0;
KrissyHam 1:a81deeb5ba58 35 float t_prev2 = 0;
KrissyHam 1:a81deeb5ba58 36 float t_curr = 0;
KrissyHam 1:a81deeb5ba58 37 float t_curr2 = 0;
KrissyHam 1:a81deeb5ba58 38 float t_gyroPrev = 0;
KrissyHam 1:a81deeb5ba58 39 float t_gyroPrev2 = 0;
KrissyHam 1:a81deeb5ba58 40 float t_gyroCurr = 0;
KrissyHam 1:a81deeb5ba58 41 float t_gyroCurr2 = 0;
KrissyHam 1:a81deeb5ba58 42 float delta_t = 0;
KrissyHam 1:a81deeb5ba58 43
KrissyHam 1:a81deeb5ba58 44 float x_accel = 0;
KrissyHam 1:a81deeb5ba58 45 float y_accel = 0;
KrissyHam 1:a81deeb5ba58 46 float y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 47
KrissyHam 1:a81deeb5ba58 48 float x_vel_prev = 0;
KrissyHam 1:a81deeb5ba58 49 float x_vel_curr = 0;
KrissyHam 1:a81deeb5ba58 50 float y_vel_prev = 0;
KrissyHam 1:a81deeb5ba58 51 float y_vel_curr = 0;
KrissyHam 1:a81deeb5ba58 52
KrissyHam 1:a81deeb5ba58 53 float x_pos_prev = 0;
KrissyHam 1:a81deeb5ba58 54 float x_pos_curr = 0;
KrissyHam 1:a81deeb5ba58 55 float y_pos_prev = 0;
KrissyHam 1:a81deeb5ba58 56 float y_pos_curr = 0;
KrissyHam 1:a81deeb5ba58 57
KrissyHam 1:a81deeb5ba58 58 int resetIndex = BUFFERSIZE - 2;
KrissyHam 1:a81deeb5ba58 59 float average[BUFFERSIZE] = {0};
KrissyHam 1:a81deeb5ba58 60 int avg_index = 0;
KrissyHam 1:a81deeb5ba58 61 float total = 0;
KrissyHam 1:a81deeb5ba58 62 float avg_thresh;
KrissyHam 1:a81deeb5ba58 63
KrissyHam 1:a81deeb5ba58 64 float average2[BUFFERSIZE] = {0};
KrissyHam 1:a81deeb5ba58 65 int avg_index2 = 0;
KrissyHam 1:a81deeb5ba58 66 float total2 = 0;
KrissyHam 1:a81deeb5ba58 67 float avg_thresh2;
KrissyHam 1:a81deeb5ba58 68
KrissyHam 1:a81deeb5ba58 69 float z_gyro = 0;
KrissyHam 1:a81deeb5ba58 70 float gyroAverage[3] = {0};
KrissyHam 1:a81deeb5ba58 71 int avg_gyroIndex = 0;
KrissyHam 1:a81deeb5ba58 72 float gyroTotal = 0;
KrissyHam 1:a81deeb5ba58 73 float running_gyroAvg = 0;
KrissyHam 1:a81deeb5ba58 74
KrissyHam 1:a81deeb5ba58 75 float avg_gyroThresh = 0;
KrissyHam 1:a81deeb5ba58 76 float avg_gyroThresh2 = 0;
KrissyHam 1:a81deeb5ba58 77
KrissyHam 1:a81deeb5ba58 78 float gyroAverage2[3] = {0};
KrissyHam 1:a81deeb5ba58 79 int avg_gyroIndex2 = 0;
KrissyHam 1:a81deeb5ba58 80 float gyroTotal2 = 0;
KrissyHam 1:a81deeb5ba58 81 float running_gyroAvg2 = 0;
KrissyHam 1:a81deeb5ba58 82
KrissyHam 1:a81deeb5ba58 83 float gyroInterval = 1.00;
KrissyHam 1:a81deeb5ba58 84
KrissyHam 1:a81deeb5ba58 85 float prev_y_accel = 0;
KrissyHam 1:a81deeb5ba58 86 float curr_y_accel = 0;
KrissyHam 1:a81deeb5ba58 87 float prev_x_accel = 0;
KrissyHam 1:a81deeb5ba58 88 float curr_x_accel = 0;
KrissyHam 1:a81deeb5ba58 89 float y_accel_threshold = 0.8;
KrissyHam 1:a81deeb5ba58 90 float x_accel_threshold = 0.1;
KrissyHam 1:a81deeb5ba58 91 bool check_y_accel = false;
KrissyHam 1:a81deeb5ba58 92 bool check_x_accel = false;
KrissyHam 1:a81deeb5ba58 93 float t_prev_y_accel = 0;
KrissyHam 1:a81deeb5ba58 94
KrissyHam 1:a81deeb5ba58 95 float prev_y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 96 float curr_y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 97 float prev_x_accel2 = 0;
KrissyHam 1:a81deeb5ba58 98 float curr_x_accel2 = 0;
KrissyHam 1:a81deeb5ba58 99 bool check_y_accel2 = false;
KrissyHam 1:a81deeb5ba58 100 bool check_x_accel2 = false;
KrissyHam 1:a81deeb5ba58 101 float t_prev_y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 102 int count2 = 0;
KrissyHam 1:a81deeb5ba58 103
KrissyHam 1:a81deeb5ba58 104
KrissyHam 1:a81deeb5ba58 105 // enum InputType {STILL, ACCEL_POS, ACCEL_NEG};
KrissyHam 1:a81deeb5ba58 106 enum StateType {FRONT, SIDE, HIT};
KrissyHam 1:a81deeb5ba58 107 enum StateType2 {FRONT2, SIDE2, HIT2};
KrissyHam 1:a81deeb5ba58 108
KrissyHam 1:a81deeb5ba58 109 // InputType input = STILL; // Initial input is STILL
KrissyHam 1:a81deeb5ba58 110 StateType state = FRONT; // Initial state is FRONT
KrissyHam 1:a81deeb5ba58 111 StateType2 state2 = FRONT2;
KrissyHam 1:a81deeb5ba58 112
4180_1 0:e693d5bf0a25 113 // Calculate pitch, roll, and heading.
4180_1 0:e693d5bf0a25 114 // Pitch/roll calculations taken from this app note:
4180_1 0:e693d5bf0a25 115 // http://cache.freescale.com/files/sensors/doc/app_note/AN3461.pdf?fpsp=1
4180_1 0:e693d5bf0a25 116 // Heading calculations taken from this app note:
4180_1 0:e693d5bf0a25 117 // http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/Magnetic__Literature_Application_notes-documents/AN203_Compass_Heading_Using_Magnetometers.pdf
KrissyHam 1:a81deeb5ba58 118
KrissyHam 1:a81deeb5ba58 119 void printAltitude(float ax, float ay, float az, float mx, float my, float mz)
4180_1 0:e693d5bf0a25 120 {
4180_1 0:e693d5bf0a25 121 float roll = atan2(ay, az);
4180_1 0:e693d5bf0a25 122 float pitch = atan2(-ax, sqrt(ay * ay + az * az));
4180_1 0:e693d5bf0a25 123 // touchy trig stuff to use arctan to get compass heading (scale is 0..360)
4180_1 0:e693d5bf0a25 124 mx = -mx;
4180_1 0:e693d5bf0a25 125 float heading;
4180_1 0:e693d5bf0a25 126 if (my == 0.0)
4180_1 0:e693d5bf0a25 127 heading = (mx < 0.0) ? 180.0 : 0.0;
4180_1 0:e693d5bf0a25 128 else
4180_1 0:e693d5bf0a25 129 heading = atan2(mx, my)*360.0/(2.0*PI);
KrissyHam 1:a81deeb5ba58 130 pc.printf("heading atan=%f \n\r",heading);
4180_1 0:e693d5bf0a25 131 heading -= DECLINATION; //correct for geo location
4180_1 0:e693d5bf0a25 132 if(heading>180.0) heading = heading - 360.0;
4180_1 0:e693d5bf0a25 133 else if(heading<-180.0) heading = 360.0 + heading;
4180_1 0:e693d5bf0a25 134 else if(heading<0.0) heading = 360.0 + heading;
4180_1 0:e693d5bf0a25 135
4180_1 0:e693d5bf0a25 136
4180_1 0:e693d5bf0a25 137 // Convert everything from radians to degrees:
4180_1 0:e693d5bf0a25 138 //heading *= 180.0 / PI;
4180_1 0:e693d5bf0a25 139 pitch *= 180.0 / PI;
4180_1 0:e693d5bf0a25 140 roll *= 180.0 / PI;
4180_1 0:e693d5bf0a25 141 }
4180_1 0:e693d5bf0a25 142
KrissyHam 1:a81deeb5ba58 143 void show_message(MIDIMessage msg) {
KrissyHam 1:a81deeb5ba58 144 switch (msg.type()) {
KrissyHam 1:a81deeb5ba58 145 case MIDIMessage::NoteOnType:
KrissyHam 1:a81deeb5ba58 146 printf("NoteOn key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel());
KrissyHam 1:a81deeb5ba58 147 break;
KrissyHam 1:a81deeb5ba58 148 case MIDIMessage::NoteOffType:
KrissyHam 1:a81deeb5ba58 149 printf("NoteOff key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel());
KrissyHam 1:a81deeb5ba58 150 break;
KrissyHam 1:a81deeb5ba58 151 case MIDIMessage::ControlChangeType:
KrissyHam 1:a81deeb5ba58 152 printf("ControlChange controller: %d, data: %d\n", msg.controller(), msg.value());
KrissyHam 1:a81deeb5ba58 153 break;
KrissyHam 1:a81deeb5ba58 154 case MIDIMessage::PitchWheelType:
KrissyHam 1:a81deeb5ba58 155 printf("PitchWheel channel: %d, pitch: %d\n", msg.channel(), msg.pitch());
KrissyHam 1:a81deeb5ba58 156 break;
KrissyHam 1:a81deeb5ba58 157 default:
KrissyHam 1:a81deeb5ba58 158 printf("Another message\n");
KrissyHam 1:a81deeb5ba58 159 }
KrissyHam 1:a81deeb5ba58 160 }
4180_1 0:e693d5bf0a25 161
KrissyHam 1:a81deeb5ba58 162 int count = 0;
KrissyHam 1:a81deeb5ba58 163 USBMIDI midi;
KrissyHam 1:a81deeb5ba58 164 bool detectHit = 0;
KrissyHam 1:a81deeb5ba58 165 bool detectHit2 = 0;
KrissyHam 1:a81deeb5ba58 166 bool detectUp = 0;
KrissyHam 1:a81deeb5ba58 167 bool detectUp2 = 0;
KrissyHam 1:a81deeb5ba58 168 float runningAvg = 0;
KrissyHam 1:a81deeb5ba58 169 float runningAvg2 = 0;
KrissyHam 1:a81deeb5ba58 170 float interval;
KrissyHam 1:a81deeb5ba58 171 float hit_volume = 0;
KrissyHam 1:a81deeb5ba58 172 float hit_volume2 = 0;
KrissyHam 1:a81deeb5ba58 173
4180_1 0:e693d5bf0a25 174
4180_1 0:e693d5bf0a25 175 int main()
4180_1 0:e693d5bf0a25 176 {
KrissyHam 1:a81deeb5ba58 177
KrissyHam 1:a81deeb5ba58 178 midi.attach(show_message); // call back for messages received
KrissyHam 1:a81deeb5ba58 179 pc.baud(9600);
KrissyHam 1:a81deeb5ba58 180 pc.printf("Hello world!\n");
4180_1 0:e693d5bf0a25 181 IMU.begin();
4180_1 0:e693d5bf0a25 182 if (!IMU.begin()) {
KrissyHam 1:a81deeb5ba58 183 pc.printf("Failed to communicate with LSM9DS1 - first.\n");
4180_1 0:e693d5bf0a25 184 }
4180_1 0:e693d5bf0a25 185 IMU.calibrate(1);
KrissyHam 1:a81deeb5ba58 186
KrissyHam 1:a81deeb5ba58 187 IMU2.begin();
KrissyHam 1:a81deeb5ba58 188 if (!IMU2.begin()) {
KrissyHam 1:a81deeb5ba58 189 pc.printf("Failed to communicate with LSM9DS1 - second.\n");
KrissyHam 1:a81deeb5ba58 190 }
KrissyHam 1:a81deeb5ba58 191 IMU2.calibrate(1);
KrissyHam 1:a81deeb5ba58 192
KrissyHam 1:a81deeb5ba58 193 t.start();
KrissyHam 1:a81deeb5ba58 194
4180_1 0:e693d5bf0a25 195 while(1) {
KrissyHam 1:a81deeb5ba58 196
4180_1 0:e693d5bf0a25 197 while(!IMU.accelAvailable());
4180_1 0:e693d5bf0a25 198 IMU.readAccel();
4180_1 0:e693d5bf0a25 199 while(!IMU.gyroAvailable());
4180_1 0:e693d5bf0a25 200 IMU.readGyro();
KrissyHam 1:a81deeb5ba58 201
KrissyHam 1:a81deeb5ba58 202 while(!IMU2.accelAvailable());
KrissyHam 1:a81deeb5ba58 203 IMU2.readAccel();
KrissyHam 1:a81deeb5ba58 204 while(!IMU2.gyroAvailable());
KrissyHam 1:a81deeb5ba58 205 IMU2.readGyro();
KrissyHam 1:a81deeb5ba58 206
KrissyHam 1:a81deeb5ba58 207 /**
KrissyHam 1:a81deeb5ba58 208 * FSR
KrissyHam 1:a81deeb5ba58 209 */
KrissyHam 1:a81deeb5ba58 210
KrissyHam 1:a81deeb5ba58 211 if(fsr_kick.readRaw()>0.3){
KrissyHam 1:a81deeb5ba58 212 if(kicked == false){
KrissyHam 1:a81deeb5ba58 213 midi.write(MIDIMessage::NoteOn(45, fsr_kick.readRaw()*127 + 30, 10));
KrissyHam 1:a81deeb5ba58 214 }
KrissyHam 1:a81deeb5ba58 215 kicked = true;
KrissyHam 1:a81deeb5ba58 216 }
KrissyHam 1:a81deeb5ba58 217 else{kicked = false;}
KrissyHam 1:a81deeb5ba58 218
KrissyHam 1:a81deeb5ba58 219 if(fsr_hh.readRaw()>0.3){
KrissyHam 1:a81deeb5ba58 220 if(hh_close == false){
KrissyHam 1:a81deeb5ba58 221 midi.write(MIDIMessage::NoteOn(42, fsr_hh.readRaw()*127, 10));
KrissyHam 1:a81deeb5ba58 222 }
KrissyHam 1:a81deeb5ba58 223 hh_close = true;
KrissyHam 1:a81deeb5ba58 224 }
KrissyHam 1:a81deeb5ba58 225 else{hh_close = false;}
KrissyHam 1:a81deeb5ba58 226
KrissyHam 1:a81deeb5ba58 227 /**
KrissyHam 1:a81deeb5ba58 228 End FSR
KrissyHam 1:a81deeb5ba58 229 **/
KrissyHam 1:a81deeb5ba58 230
KrissyHam 1:a81deeb5ba58 231 // pc.printf("\nIMU Temperature = %f C\n\r",25.0 + IMU.temperature/16.0);
KrissyHam 1:a81deeb5ba58 232 // pc.printf(" X axis Y axis Z axis\n\r");
KrissyHam 1:a81deeb5ba58 233 //pc.printf("gyro: %9f %9f %9f in deg/s\n\r", IMU.calcGyro(IMU.gx), IMU.calcGyro(IMU.gy), IMU.calcGyro(IMU.gz));
KrissyHam 1:a81deeb5ba58 234 //pc.printf("gyro: %9f in deg/s\n\r", IMU.calcGyro(IMU.gy));
KrissyHam 1:a81deeb5ba58 235 //pc.printf("accel: %9f %9f %9f in Gs\n\r", IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az));
KrissyHam 1:a81deeb5ba58 236 // pc.printf("mag: %9f %9f %9f in gauss\n\r", IMU.calcMag(IMU.mx), IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
KrissyHam 1:a81deeb5ba58 237 // printAltitude(IMU.calcAccel(IMU.ax), IMU.calcAccel(IMU.ay), IMU.calcAccel(IMU.az), IMU.calcMag(IMU.mx),
KrissyHam 1:a81deeb5ba58 238 // IMU.calcMag(IMU.my), IMU.calcMag(IMU.mz));
KrissyHam 1:a81deeb5ba58 239 y_accel = IMU.calcAccel(IMU.ay);
KrissyHam 1:a81deeb5ba58 240 y_accel2 = IMU2.calcAccel(IMU2.ay);
KrissyHam 1:a81deeb5ba58 241 x_accel = IMU.calcAccel(IMU.ax);
KrissyHam 1:a81deeb5ba58 242
KrissyHam 1:a81deeb5ba58 243 t_curr = t.read();
KrissyHam 1:a81deeb5ba58 244 t_curr2 = t_curr;
KrissyHam 1:a81deeb5ba58 245
KrissyHam 1:a81deeb5ba58 246
KrissyHam 1:a81deeb5ba58 247
KrissyHam 1:a81deeb5ba58 248 /**
KrissyHam 1:a81deeb5ba58 249 * Averaging for hit detection
KrissyHam 1:a81deeb5ba58 250 */
KrissyHam 1:a81deeb5ba58 251
KrissyHam 1:a81deeb5ba58 252 // First IMU
KrissyHam 1:a81deeb5ba58 253 total -= average[avg_index];
KrissyHam 1:a81deeb5ba58 254 average[avg_index] = IMU.calcGyro(IMU.gy);
KrissyHam 1:a81deeb5ba58 255 total += average[avg_index];
KrissyHam 1:a81deeb5ba58 256 if (avg_index > resetIndex) {
KrissyHam 1:a81deeb5ba58 257 avg_index = 0;
KrissyHam 1:a81deeb5ba58 258 } else {
KrissyHam 1:a81deeb5ba58 259 avg_index++;
KrissyHam 1:a81deeb5ba58 260 }
KrissyHam 1:a81deeb5ba58 261
KrissyHam 1:a81deeb5ba58 262 // Second IMU
KrissyHam 1:a81deeb5ba58 263 total2 -= average2[avg_index2];
KrissyHam 1:a81deeb5ba58 264 average2[avg_index2] = IMU2.calcGyro(IMU2.gy);
KrissyHam 1:a81deeb5ba58 265 total2 += average2[avg_index2];
KrissyHam 1:a81deeb5ba58 266 if (avg_index2 > resetIndex) {
KrissyHam 1:a81deeb5ba58 267 avg_index2 = 0;
KrissyHam 1:a81deeb5ba58 268 } else {
KrissyHam 1:a81deeb5ba58 269 avg_index2++;
KrissyHam 1:a81deeb5ba58 270 }
KrissyHam 1:a81deeb5ba58 271
KrissyHam 1:a81deeb5ba58 272 /**
KrissyHam 1:a81deeb5ba58 273 * Detect hit
KrissyHam 1:a81deeb5ba58 274 */
KrissyHam 1:a81deeb5ba58 275 if (IMU.calcGyro(IMU.gy) > 35) {
KrissyHam 1:a81deeb5ba58 276 detectHit = 1;
KrissyHam 1:a81deeb5ba58 277 }
KrissyHam 1:a81deeb5ba58 278
KrissyHam 1:a81deeb5ba58 279 if (IMU2.calcGyro(IMU2.gy) > 35) {
KrissyHam 1:a81deeb5ba58 280 detectHit2 = 1;
KrissyHam 1:a81deeb5ba58 281 }
KrissyHam 1:a81deeb5ba58 282
KrissyHam 1:a81deeb5ba58 283 /**
KrissyHam 1:a81deeb5ba58 284 * Check all conditions for hit
KrissyHam 1:a81deeb5ba58 285 */
KrissyHam 1:a81deeb5ba58 286
KrissyHam 1:a81deeb5ba58 287 // Map gyroscope value ranges to volume ranges
KrissyHam 1:a81deeb5ba58 288 hit_volume = (runningAvg + 245) * (127) / (490);
KrissyHam 1:a81deeb5ba58 289 hit_volume2 = (runningAvg2 + 245) * (127) / (490) + 15;
KrissyHam 1:a81deeb5ba58 290
KrissyHam 1:a81deeb5ba58 291 // First IMU
KrissyHam 1:a81deeb5ba58 292 detectUp = IMU.calcGyro(IMU.gy) <= 0;
KrissyHam 1:a81deeb5ba58 293 runningAvg = total / BUFFERSIZE;
KrissyHam 1:a81deeb5ba58 294 interval = 0.20;
KrissyHam 1:a81deeb5ba58 295 avg_thresh = 20;
KrissyHam 1:a81deeb5ba58 296
KrissyHam 1:a81deeb5ba58 297 if (detectHit && detectUp && runningAvg > avg_thresh && (t_curr - t_prev) > interval) {
KrissyHam 1:a81deeb5ba58 298 switch (state) {
KrissyHam 1:a81deeb5ba58 299 case (FRONT):
KrissyHam 1:a81deeb5ba58 300 midi.write(MIDIMessage::NoteOn(46, runningAvg, 10));
KrissyHam 1:a81deeb5ba58 301 break;
KrissyHam 1:a81deeb5ba58 302 case (SIDE):
KrissyHam 1:a81deeb5ba58 303 if (hh_close) {
KrissyHam 1:a81deeb5ba58 304 midi.write(MIDIMessage::NoteOn(40, hit_volume, 10));
KrissyHam 1:a81deeb5ba58 305 } else {
KrissyHam 1:a81deeb5ba58 306 midi.write(MIDIMessage::NoteOn(41, hit_volume, 10));
KrissyHam 1:a81deeb5ba58 307 }
KrissyHam 1:a81deeb5ba58 308 break;
KrissyHam 1:a81deeb5ba58 309 }
KrissyHam 1:a81deeb5ba58 310 detectHit = 0;
KrissyHam 1:a81deeb5ba58 311 t_prev = t_curr;
KrissyHam 1:a81deeb5ba58 312 count = 0;
KrissyHam 1:a81deeb5ba58 313 }
KrissyHam 1:a81deeb5ba58 314
KrissyHam 1:a81deeb5ba58 315 // Second IMU
KrissyHam 1:a81deeb5ba58 316 detectUp2 = IMU2.calcGyro(IMU2.gy) <= 0;
KrissyHam 1:a81deeb5ba58 317 runningAvg2 = total2 / BUFFERSIZE;
KrissyHam 1:a81deeb5ba58 318
KrissyHam 1:a81deeb5ba58 319 if (detectHit2 && detectUp2 && runningAvg2 > avg_thresh2 && (t_curr2 - t_prev2) > interval) {
KrissyHam 1:a81deeb5ba58 320 switch (state2) {
KrissyHam 1:a81deeb5ba58 321 case (FRONT2):
KrissyHam 1:a81deeb5ba58 322 midi.write(MIDIMessage::NoteOn(47, hit_volume2, 10));
KrissyHam 1:a81deeb5ba58 323 break;
KrissyHam 1:a81deeb5ba58 324 case (SIDE2):
KrissyHam 1:a81deeb5ba58 325 midi.write(MIDIMessage::NoteOn(51, hit_volume2, 10));
KrissyHam 1:a81deeb5ba58 326 break;
KrissyHam 1:a81deeb5ba58 327 }
KrissyHam 1:a81deeb5ba58 328 detectHit2 = 0;
KrissyHam 1:a81deeb5ba58 329 t_prev2 = t_curr2;
KrissyHam 1:a81deeb5ba58 330 }
KrissyHam 1:a81deeb5ba58 331
KrissyHam 1:a81deeb5ba58 332
KrissyHam 1:a81deeb5ba58 333 /**
KrissyHam 1:a81deeb5ba58 334 * Switching instruments detection
KrissyHam 1:a81deeb5ba58 335 */
KrissyHam 1:a81deeb5ba58 336
KrissyHam 1:a81deeb5ba58 337 curr_y_accel = y_accel;
KrissyHam 1:a81deeb5ba58 338 curr_x_accel = x_accel;
KrissyHam 1:a81deeb5ba58 339
KrissyHam 1:a81deeb5ba58 340 curr_y_accel2 = y_accel2;
KrissyHam 1:a81deeb5ba58 341
KrissyHam 1:a81deeb5ba58 342 check_y_accel = abs(curr_y_accel - prev_y_accel) > y_accel_threshold;
KrissyHam 1:a81deeb5ba58 343 check_y_accel2 = abs(curr_y_accel2 - prev_y_accel2) > y_accel_threshold;
KrissyHam 1:a81deeb5ba58 344
KrissyHam 1:a81deeb5ba58 345 check_x_accel = abs(curr_x_accel - prev_x_accel) > x_accel_threshold;
KrissyHam 1:a81deeb5ba58 346
KrissyHam 1:a81deeb5ba58 347 if (check_y_accel) {
KrissyHam 1:a81deeb5ba58 348 count++;
KrissyHam 1:a81deeb5ba58 349 }
KrissyHam 1:a81deeb5ba58 350
KrissyHam 1:a81deeb5ba58 351 if (check_y_accel2) {
KrissyHam 1:a81deeb5ba58 352 count2++;
KrissyHam 1:a81deeb5ba58 353 }
KrissyHam 1:a81deeb5ba58 354
KrissyHam 1:a81deeb5ba58 355 // First IMU
KrissyHam 1:a81deeb5ba58 356 switch (state) {
KrissyHam 1:a81deeb5ba58 357 case (FRONT):
KrissyHam 1:a81deeb5ba58 358 if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) {
KrissyHam 1:a81deeb5ba58 359 count = 0;
KrissyHam 1:a81deeb5ba58 360 state = SIDE;
KrissyHam 1:a81deeb5ba58 361 led1 = 1;
KrissyHam 1:a81deeb5ba58 362 led2 = 0;
KrissyHam 1:a81deeb5ba58 363 t_prev_y_accel = t_curr;
KrissyHam 1:a81deeb5ba58 364 }
KrissyHam 1:a81deeb5ba58 365 break;
KrissyHam 1:a81deeb5ba58 366 case (SIDE):
KrissyHam 1:a81deeb5ba58 367 if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) {
KrissyHam 1:a81deeb5ba58 368 count = 0;
KrissyHam 1:a81deeb5ba58 369 state = FRONT;
KrissyHam 1:a81deeb5ba58 370 led1 = 0;
KrissyHam 1:a81deeb5ba58 371 led2 = 1;
KrissyHam 1:a81deeb5ba58 372 t_prev_y_accel = t_curr;
KrissyHam 1:a81deeb5ba58 373 }
KrissyHam 1:a81deeb5ba58 374 break;
KrissyHam 1:a81deeb5ba58 375 }
KrissyHam 1:a81deeb5ba58 376 prev_y_accel = curr_y_accel;
KrissyHam 1:a81deeb5ba58 377 prev_x_accel = curr_x_accel;
KrissyHam 1:a81deeb5ba58 378
KrissyHam 1:a81deeb5ba58 379 //Second IMU
KrissyHam 1:a81deeb5ba58 380 switch (state2) {
KrissyHam 1:a81deeb5ba58 381 case (FRONT2):
KrissyHam 1:a81deeb5ba58 382 if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){
KrissyHam 1:a81deeb5ba58 383 state2 = SIDE2;
KrissyHam 1:a81deeb5ba58 384 count2 = 0;
KrissyHam 1:a81deeb5ba58 385 led4 = 1;
KrissyHam 1:a81deeb5ba58 386 led3 = 0;
KrissyHam 1:a81deeb5ba58 387 t_prev_y_accel2 = t_curr;
KrissyHam 1:a81deeb5ba58 388 }
KrissyHam 1:a81deeb5ba58 389 break;
KrissyHam 1:a81deeb5ba58 390 case (SIDE2):
KrissyHam 1:a81deeb5ba58 391 if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){
KrissyHam 1:a81deeb5ba58 392 state2 = FRONT2;
KrissyHam 1:a81deeb5ba58 393 count2 = 0;
KrissyHam 1:a81deeb5ba58 394 led4 = 0;
KrissyHam 1:a81deeb5ba58 395 led3 = 1;
KrissyHam 1:a81deeb5ba58 396 t_prev_y_accel2 = t_curr;
KrissyHam 1:a81deeb5ba58 397 }
KrissyHam 1:a81deeb5ba58 398 break;
KrissyHam 1:a81deeb5ba58 399 }
KrissyHam 1:a81deeb5ba58 400 prev_y_accel2 = curr_y_accel2;
4180_1 0:e693d5bf0a25 401 }
4180_1 0:e693d5bf0a25 402 }
4180_1 0:e693d5bf0a25 403