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@4:f0cd8d252c08, 2016-04-29 (annotated)

Committer:
KrissyHam
Date:
Fri Apr 29 13:28:40 2016 +0000
Revision:
4:f0cd8d252c08
Parent:
3:de36d456f684 
Added more comments, cleaned up extraneous lines

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
KrissyHam 1:a81deeb5ba58 10 // FSR
KrissyHam 1:a81deeb5ba58 11 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 12 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 13 bool hh_close = false; // boolean to determine if hi-hat is closed or open
KrissyHam 1:a81deeb5ba58 14 bool kicked = false;
KrissyHam 1:a81deeb5ba58 15
KrissyHam 1:a81deeb5ba58 16 // IMU
KrissyHam 1:a81deeb5ba58 17 LSM9DS1 IMU(p9, p10, 0xD6, 0x3C);
KrissyHam 1:a81deeb5ba58 18 LSM9DS1 IMU2(p28, p27, 0xD6, 0x3C);
KrissyHam 1:a81deeb5ba58 19
KrissyHam 2:82b2a1e84586 20 USBMIDI midi;
KrissyHam 2:82b2a1e84586 21
4180_1 0:e693d5bf0a25 22 Serial pc(USBTX, USBRX);
KrissyHam 1:a81deeb5ba58 23 DigitalOut led1(LED1);
KrissyHam 1:a81deeb5ba58 24 DigitalOut led2(LED2);
KrissyHam 1:a81deeb5ba58 25 DigitalOut led3(LED3);
KrissyHam 1:a81deeb5ba58 26 DigitalOut led4(LED4);
KrissyHam 1:a81deeb5ba58 27
KrissyHam 1:a81deeb5ba58 28 Timer t;
KrissyHam 1:a81deeb5ba58 29 float t_prev = 0;
KrissyHam 1:a81deeb5ba58 30 float t_prev2 = 0;
KrissyHam 1:a81deeb5ba58 31 float t_curr = 0;
KrissyHam 1:a81deeb5ba58 32 float t_curr2 = 0;
KrissyHam 1:a81deeb5ba58 33 float t_gyroPrev = 0;
KrissyHam 1:a81deeb5ba58 34 float t_gyroPrev2 = 0;
KrissyHam 1:a81deeb5ba58 35 float t_gyroCurr = 0;
KrissyHam 1:a81deeb5ba58 36 float t_gyroCurr2 = 0;
KrissyHam 1:a81deeb5ba58 37 float delta_t = 0;
KrissyHam 1:a81deeb5ba58 38
KrissyHam 1:a81deeb5ba58 39 float y_accel = 0;
KrissyHam 1:a81deeb5ba58 40 float y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 41
KrissyHam 1:a81deeb5ba58 42 int resetIndex = BUFFERSIZE - 2;
KrissyHam 1:a81deeb5ba58 43 float average[BUFFERSIZE] = {0};
KrissyHam 1:a81deeb5ba58 44 int avg_index = 0;
KrissyHam 1:a81deeb5ba58 45 float total = 0;
KrissyHam 2:82b2a1e84586 46 float avg_thresh = 20;
KrissyHam 1:a81deeb5ba58 47
KrissyHam 1:a81deeb5ba58 48 float average2[BUFFERSIZE] = {0};
KrissyHam 1:a81deeb5ba58 49 int avg_index2 = 0;
KrissyHam 1:a81deeb5ba58 50 float total2 = 0;
KrissyHam 1:a81deeb5ba58 51 float avg_thresh2;
KrissyHam 1:a81deeb5ba58 52
KrissyHam 1:a81deeb5ba58 53 float prev_y_accel = 0;
KrissyHam 1:a81deeb5ba58 54 float curr_y_accel = 0;
KrissyHam 1:a81deeb5ba58 55 float y_accel_threshold = 0.8;
KrissyHam 1:a81deeb5ba58 56 bool check_y_accel = false;
KrissyHam 1:a81deeb5ba58 57 float t_prev_y_accel = 0;
KrissyHam 1:a81deeb5ba58 58
KrissyHam 1:a81deeb5ba58 59 float prev_y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 60 float curr_y_accel2 = 0;
KrissyHam 1:a81deeb5ba58 61 bool check_y_accel2 = false;
KrissyHam 1:a81deeb5ba58 62 float t_prev_y_accel2 = 0;
KrissyHam 2:82b2a1e84586 63
KrissyHam 1:a81deeb5ba58 64 int count2 = 0;
KrissyHam 2:82b2a1e84586 65 int count = 0;
KrissyHam 2:82b2a1e84586 66
KrissyHam 2:82b2a1e84586 67 bool detectHit = 0;
KrissyHam 2:82b2a1e84586 68 bool detectHit2 = 0;
KrissyHam 2:82b2a1e84586 69 bool detectUp = 0;
KrissyHam 2:82b2a1e84586 70 bool detectUp2 = 0;
KrissyHam 2:82b2a1e84586 71
KrissyHam 2:82b2a1e84586 72 float runningAvg = 0;
KrissyHam 2:82b2a1e84586 73 float runningAvg2 = 0;
KrissyHam 2:82b2a1e84586 74
KrissyHam 2:82b2a1e84586 75 float interval = 0.20;
KrissyHam 2:82b2a1e84586 76 float hit_volume = 0;
KrissyHam 2:82b2a1e84586 77 float hit_volume2 = 0;
KrissyHam 1:a81deeb5ba58 78
KrissyHam 1:a81deeb5ba58 79 enum StateType {FRONT, SIDE, HIT};
KrissyHam 1:a81deeb5ba58 80 enum StateType2 {FRONT2, SIDE2, HIT2};
KrissyHam 1:a81deeb5ba58 81
KrissyHam 1:a81deeb5ba58 82 StateType state = FRONT; // Initial state is FRONT
KrissyHam 1:a81deeb5ba58 83 StateType2 state2 = FRONT2;
KrissyHam 1:a81deeb5ba58 84
KrissyHam 1:a81deeb5ba58 85 void show_message(MIDIMessage msg) {
KrissyHam 1:a81deeb5ba58 86 switch (msg.type()) {
KrissyHam 1:a81deeb5ba58 87 case MIDIMessage::NoteOnType:
KrissyHam 1:a81deeb5ba58 88 printf("NoteOn key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel());
KrissyHam 1:a81deeb5ba58 89 break;
KrissyHam 1:a81deeb5ba58 90 case MIDIMessage::NoteOffType:
KrissyHam 1:a81deeb5ba58 91 printf("NoteOff key:%d, velocity: %d, channel: %d\n", msg.key(), msg.velocity(), msg.channel());
KrissyHam 1:a81deeb5ba58 92 break;
KrissyHam 1:a81deeb5ba58 93 case MIDIMessage::ControlChangeType:
KrissyHam 1:a81deeb5ba58 94 printf("ControlChange controller: %d, data: %d\n", msg.controller(), msg.value());
KrissyHam 1:a81deeb5ba58 95 break;
KrissyHam 1:a81deeb5ba58 96 case MIDIMessage::PitchWheelType:
KrissyHam 1:a81deeb5ba58 97 printf("PitchWheel channel: %d, pitch: %d\n", msg.channel(), msg.pitch());
KrissyHam 1:a81deeb5ba58 98 break;
KrissyHam 1:a81deeb5ba58 99 default:
KrissyHam 1:a81deeb5ba58 100 printf("Another message\n");
KrissyHam 1:a81deeb5ba58 101 }
KrissyHam 1:a81deeb5ba58 102 }
4180_1 0:e693d5bf0a25 103
4180_1 0:e693d5bf0a25 104
4180_1 0:e693d5bf0a25 105 int main()
4180_1 0:e693d5bf0a25 106 {
KrissyHam 2:82b2a1e84586 107 midi.attach(show_message); // call back for messages received
KrissyHam 1:a81deeb5ba58 108 pc.baud(9600);
KrissyHam 1:a81deeb5ba58 109 pc.printf("Hello world!\n");
KrissyHam 4:f0cd8d252c08 110
KrissyHam 4:f0cd8d252c08 111 // Initialize IMUs
4180_1 0:e693d5bf0a25 112 IMU.begin();
4180_1 0:e693d5bf0a25 113 if (!IMU.begin()) {
KrissyHam 1:a81deeb5ba58 114 pc.printf("Failed to communicate with LSM9DS1 - first.\n");
4180_1 0:e693d5bf0a25 115 }
4180_1 0:e693d5bf0a25 116 IMU.calibrate(1);
KrissyHam 1:a81deeb5ba58 117
KrissyHam 1:a81deeb5ba58 118 IMU2.begin();
KrissyHam 1:a81deeb5ba58 119 if (!IMU2.begin()) {
KrissyHam 1:a81deeb5ba58 120 pc.printf("Failed to communicate with LSM9DS1 - second.\n");
KrissyHam 1:a81deeb5ba58 121 }
KrissyHam 1:a81deeb5ba58 122 IMU2.calibrate(1);
KrissyHam 1:a81deeb5ba58 123
KrissyHam 4:f0cd8d252c08 124 t.start(); // start timer
KrissyHam 1:a81deeb5ba58 125
4180_1 0:e693d5bf0a25 126 while(1) {
KrissyHam 1:a81deeb5ba58 127
KrissyHam 2:82b2a1e84586 128 // Initialize acceleration and gyroscope data for both IMUs
4180_1 0:e693d5bf0a25 129 while(!IMU.accelAvailable());
4180_1 0:e693d5bf0a25 130 IMU.readAccel();
4180_1 0:e693d5bf0a25 131 while(!IMU.gyroAvailable());
4180_1 0:e693d5bf0a25 132 IMU.readGyro();
KrissyHam 1:a81deeb5ba58 133
KrissyHam 1:a81deeb5ba58 134 while(!IMU2.accelAvailable());
KrissyHam 1:a81deeb5ba58 135 IMU2.readAccel();
KrissyHam 1:a81deeb5ba58 136 while(!IMU2.gyroAvailable());
KrissyHam 1:a81deeb5ba58 137 IMU2.readGyro();
KrissyHam 1:a81deeb5ba58 138
KrissyHam 2:82b2a1e84586 139 // Create variables for ease of use for acceleration
KrissyHam 1:a81deeb5ba58 140 y_accel = IMU.calcAccel(IMU.ay);
KrissyHam 1:a81deeb5ba58 141 y_accel2 = IMU2.calcAccel(IMU2.ay);
KrissyHam 1:a81deeb5ba58 142
KrissyHam 2:82b2a1e84586 143 // Initialize timer
KrissyHam 1:a81deeb5ba58 144 t_curr = t.read();
KrissyHam 1:a81deeb5ba58 145 t_curr2 = t_curr;
KrissyHam 1:a81deeb5ba58 146
KrissyHam 1:a81deeb5ba58 147
KrissyHam 2:82b2a1e84586 148 /**
KrissyHam 2:82b2a1e84586 149 * FSR detection
KrissyHam 2:82b2a1e84586 150 */
KrissyHam 2:82b2a1e84586 151
KrissyHam 4:f0cd8d252c08 152 // Check if values from FSRs are above a threshold (to detect hit)
KrissyHam 2:82b2a1e84586 153 if (fsr_kick.readRaw() > 0.3){
KrissyHam 4:f0cd8d252c08 154 // Sound will only play if foot is not on FSR (eliminates continuous noise playing if pedal is held down)
KrissyHam 2:82b2a1e84586 155 if (kicked == false){
KrissyHam 2:82b2a1e84586 156 midi.write(MIDIMessage::NoteOn(45, fsr_kick.readRaw() * 127 + 30, 10)); // Play a kick, map the volume and boost the amplitude, channel 10
KrissyHam 2:82b2a1e84586 157 }
KrissyHam 2:82b2a1e84586 158 kicked = true;
KrissyHam 2:82b2a1e84586 159 }
KrissyHam 2:82b2a1e84586 160 else {kicked = false;}
KrissyHam 2:82b2a1e84586 161
KrissyHam 2:82b2a1e84586 162 if (fsr_hh.readRaw() > 0.3){
KrissyHam 2:82b2a1e84586 163 if (hh_close == false){
KrissyHam 2:82b2a1e84586 164 midi.write(MIDIMessage::NoteOn(42, fsr_hh.readRaw()*127, 10)); // Play a hi-hat pedal, map the volume, channel 10
KrissyHam 2:82b2a1e84586 165 }
KrissyHam 2:82b2a1e84586 166 hh_close = true;
KrissyHam 2:82b2a1e84586 167 }
KrissyHam 2:82b2a1e84586 168 else {hh_close = false;}
KrissyHam 2:82b2a1e84586 169
KrissyHam 1:a81deeb5ba58 170
KrissyHam 1:a81deeb5ba58 171 /**
KrissyHam 2:82b2a1e84586 172 * Running average for hit detection
KrissyHam 1:a81deeb5ba58 173 */
KrissyHam 1:a81deeb5ba58 174
KrissyHam 1:a81deeb5ba58 175 // First IMU
KrissyHam 1:a81deeb5ba58 176 total -= average[avg_index];
KrissyHam 1:a81deeb5ba58 177 average[avg_index] = IMU.calcGyro(IMU.gy);
KrissyHam 1:a81deeb5ba58 178 total += average[avg_index];
KrissyHam 1:a81deeb5ba58 179 if (avg_index > resetIndex) {
KrissyHam 1:a81deeb5ba58 180 avg_index = 0;
KrissyHam 1:a81deeb5ba58 181 } else {
KrissyHam 1:a81deeb5ba58 182 avg_index++;
KrissyHam 1:a81deeb5ba58 183 }
KrissyHam 1:a81deeb5ba58 184
KrissyHam 1:a81deeb5ba58 185 // Second IMU
KrissyHam 1:a81deeb5ba58 186 total2 -= average2[avg_index2];
KrissyHam 1:a81deeb5ba58 187 average2[avg_index2] = IMU2.calcGyro(IMU2.gy);
KrissyHam 1:a81deeb5ba58 188 total2 += average2[avg_index2];
KrissyHam 1:a81deeb5ba58 189 if (avg_index2 > resetIndex) {
KrissyHam 1:a81deeb5ba58 190 avg_index2 = 0;
KrissyHam 1:a81deeb5ba58 191 } else {
KrissyHam 1:a81deeb5ba58 192 avg_index2++;
KrissyHam 4:f0cd8d252c08 193 }
KrissyHam 1:a81deeb5ba58 194
KrissyHam 1:a81deeb5ba58 195 /**
KrissyHam 4:f0cd8d252c08 196 * Hit detection
KrissyHam 1:a81deeb5ba58 197 */
KrissyHam 4:f0cd8d252c08 198
KrissyHam 4:f0cd8d252c08 199 // Detect downward hit
KrissyHam 1:a81deeb5ba58 200 if (IMU.calcGyro(IMU.gy) > 35) {
KrissyHam 1:a81deeb5ba58 201 detectHit = 1;
KrissyHam 1:a81deeb5ba58 202 }
KrissyHam 1:a81deeb5ba58 203
KrissyHam 1:a81deeb5ba58 204 if (IMU2.calcGyro(IMU2.gy) > 35) {
KrissyHam 1:a81deeb5ba58 205 detectHit2 = 1;
KrissyHam 1:a81deeb5ba58 206 }
KrissyHam 1:a81deeb5ba58 207
KrissyHam 1:a81deeb5ba58 208 // Map gyroscope value ranges to volume ranges
KrissyHam 1:a81deeb5ba58 209 hit_volume = (runningAvg + 245) * (127) / (490);
KrissyHam 1:a81deeb5ba58 210 hit_volume2 = (runningAvg2 + 245) * (127) / (490) + 15;
KrissyHam 1:a81deeb5ba58 211
KrissyHam 1:a81deeb5ba58 212 // First IMU
KrissyHam 1:a81deeb5ba58 213 detectUp = IMU.calcGyro(IMU.gy) <= 0;
KrissyHam 1:a81deeb5ba58 214 runningAvg = total / BUFFERSIZE;
KrissyHam 2:82b2a1e84586 215
KrissyHam 2:82b2a1e84586 216 // Check if drumstick is brought down and then brought back up (eliminates continous hit detection if drumstick is just held tilted down)
KrissyHam 2:82b2a1e84586 217 // Then check if running average is greater than a threshold (to elimate noise)
KrissyHam 2:82b2a1e84586 218 // Elimate debouncing by only allowing a hit to play if the time interval has passed
KrissyHam 2:82b2a1e84586 219 if (detectHit && detectUp && (runningAvg > avg_thresh) && (t_curr - t_prev) > interval) {
KrissyHam 2:82b2a1e84586 220 // Depending on the state, play the corresponding instrument
KrissyHam 1:a81deeb5ba58 221 switch (state) {
KrissyHam 1:a81deeb5ba58 222 case (FRONT):
KrissyHam 2:82b2a1e84586 223 midi.write(MIDIMessage::NoteOn(46, hit_volume, 10)); // Play ride sound
KrissyHam 1:a81deeb5ba58 224 break;
KrissyHam 1:a81deeb5ba58 225 case (SIDE):
KrissyHam 1:a81deeb5ba58 226 if (hh_close) {
KrissyHam 2:82b2a1e84586 227 midi.write(MIDIMessage::NoteOn(40, hit_volume, 10)); // Play closed hi-hat sound
KrissyHam 1:a81deeb5ba58 228 } else {
KrissyHam 2:82b2a1e84586 229 midi.write(MIDIMessage::NoteOn(41, hit_volume, 10)); // Play open hi-hat sound
KrissyHam 1:a81deeb5ba58 230 }
KrissyHam 1:a81deeb5ba58 231 break;
KrissyHam 1:a81deeb5ba58 232 }
KrissyHam 1:a81deeb5ba58 233 detectHit = 0;
KrissyHam 1:a81deeb5ba58 234 t_prev = t_curr;
KrissyHam 1:a81deeb5ba58 235 count = 0;
KrissyHam 1:a81deeb5ba58 236 }
KrissyHam 1:a81deeb5ba58 237
KrissyHam 1:a81deeb5ba58 238 // Second IMU
KrissyHam 1:a81deeb5ba58 239 detectUp2 = IMU2.calcGyro(IMU2.gy) <= 0;
KrissyHam 1:a81deeb5ba58 240 runningAvg2 = total2 / BUFFERSIZE;
KrissyHam 1:a81deeb5ba58 241
KrissyHam 1:a81deeb5ba58 242 if (detectHit2 && detectUp2 && runningAvg2 > avg_thresh2 && (t_curr2 - t_prev2) > interval) {
KrissyHam 1:a81deeb5ba58 243 switch (state2) {
KrissyHam 1:a81deeb5ba58 244 case (FRONT2):
KrissyHam 2:82b2a1e84586 245 midi.write(MIDIMessage::NoteOn(47, hit_volume2, 10)); // Play snare sound
KrissyHam 1:a81deeb5ba58 246 break;
KrissyHam 1:a81deeb5ba58 247 case (SIDE2):
KrissyHam 2:82b2a1e84586 248 midi.write(MIDIMessage::NoteOn(51, hit_volume2, 10)); // Play clap sound
KrissyHam 1:a81deeb5ba58 249 break;
KrissyHam 1:a81deeb5ba58 250 }
KrissyHam 1:a81deeb5ba58 251 detectHit2 = 0;
KrissyHam 1:a81deeb5ba58 252 t_prev2 = t_curr2;
KrissyHam 1:a81deeb5ba58 253 }
KrissyHam 1:a81deeb5ba58 254
KrissyHam 1:a81deeb5ba58 255
KrissyHam 1:a81deeb5ba58 256 /**
KrissyHam 2:82b2a1e84586 257 * Instrument switching detection
KrissyHam 1:a81deeb5ba58 258 */
KrissyHam 1:a81deeb5ba58 259
KrissyHam 1:a81deeb5ba58 260 curr_y_accel = y_accel;
KrissyHam 1:a81deeb5ba58 261 curr_y_accel2 = y_accel2;
KrissyHam 1:a81deeb5ba58 262
KrissyHam 1:a81deeb5ba58 263 check_y_accel = abs(curr_y_accel - prev_y_accel) > y_accel_threshold;
KrissyHam 1:a81deeb5ba58 264 check_y_accel2 = abs(curr_y_accel2 - prev_y_accel2) > y_accel_threshold;
KrissyHam 1:a81deeb5ba58 265
KrissyHam 2:82b2a1e84586 266 // Check that y accleration is above threshold; if it is, increase the count for the number of cycles it is above this threshold
KrissyHam 1:a81deeb5ba58 267 if (check_y_accel) {
KrissyHam 1:a81deeb5ba58 268 count++;
KrissyHam 1:a81deeb5ba58 269 }
KrissyHam 1:a81deeb5ba58 270
KrissyHam 1:a81deeb5ba58 271 if (check_y_accel2) {
KrissyHam 1:a81deeb5ba58 272 count2++;
KrissyHam 1:a81deeb5ba58 273 }
KrissyHam 1:a81deeb5ba58 274
KrissyHam 1:a81deeb5ba58 275 // First IMU
KrissyHam 1:a81deeb5ba58 276 switch (state) {
KrissyHam 1:a81deeb5ba58 277 case (FRONT):
KrissyHam 2:82b2a1e84586 278 // Check that y_accleration is above the threshold for at least 3 cycles
KrissyHam 2:82b2a1e84586 279 // Elimnate debouncing by only switching if a time interval has passed
KrissyHam 1:a81deeb5ba58 280 if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) {
KrissyHam 1:a81deeb5ba58 281 count = 0;
KrissyHam 1:a81deeb5ba58 282 state = SIDE;
KrissyHam 1:a81deeb5ba58 283 led1 = 1;
KrissyHam 1:a81deeb5ba58 284 led2 = 0;
KrissyHam 1:a81deeb5ba58 285 t_prev_y_accel = t_curr;
KrissyHam 1:a81deeb5ba58 286 }
KrissyHam 1:a81deeb5ba58 287 break;
KrissyHam 1:a81deeb5ba58 288 case (SIDE):
KrissyHam 1:a81deeb5ba58 289 if (check_y_accel && (count >= 3) && (t_curr - t_prev_y_accel) > 0.3) {
KrissyHam 1:a81deeb5ba58 290 count = 0;
KrissyHam 1:a81deeb5ba58 291 state = FRONT;
KrissyHam 1:a81deeb5ba58 292 led1 = 0;
KrissyHam 1:a81deeb5ba58 293 led2 = 1;
KrissyHam 1:a81deeb5ba58 294 t_prev_y_accel = t_curr;
KrissyHam 1:a81deeb5ba58 295 }
KrissyHam 1:a81deeb5ba58 296 break;
KrissyHam 1:a81deeb5ba58 297 }
KrissyHam 1:a81deeb5ba58 298 prev_y_accel = curr_y_accel;
KrissyHam 1:a81deeb5ba58 299
KrissyHam 1:a81deeb5ba58 300 //Second IMU
KrissyHam 1:a81deeb5ba58 301 switch (state2) {
KrissyHam 1:a81deeb5ba58 302 case (FRONT2):
KrissyHam 1:a81deeb5ba58 303 if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){
KrissyHam 1:a81deeb5ba58 304 state2 = SIDE2;
KrissyHam 1:a81deeb5ba58 305 count2 = 0;
KrissyHam 1:a81deeb5ba58 306 led4 = 1;
KrissyHam 1:a81deeb5ba58 307 led3 = 0;
KrissyHam 1:a81deeb5ba58 308 t_prev_y_accel2 = t_curr;
KrissyHam 1:a81deeb5ba58 309 }
KrissyHam 1:a81deeb5ba58 310 break;
KrissyHam 1:a81deeb5ba58 311 case (SIDE2):
KrissyHam 1:a81deeb5ba58 312 if (check_y_accel2 && (count2 >= 3) && (t_curr - t_prev_y_accel2) > 0.3){
KrissyHam 1:a81deeb5ba58 313 state2 = FRONT2;
KrissyHam 1:a81deeb5ba58 314 count2 = 0;
KrissyHam 1:a81deeb5ba58 315 led4 = 0;
KrissyHam 1:a81deeb5ba58 316 led3 = 1;
KrissyHam 1:a81deeb5ba58 317 t_prev_y_accel2 = t_curr;
KrissyHam 1:a81deeb5ba58 318 }
KrissyHam 1:a81deeb5ba58 319 break;
KrissyHam 1:a81deeb5ba58 320 }
KrissyHam 1:a81deeb5ba58 321 prev_y_accel2 = curr_y_accel2;
4180_1 0:e693d5bf0a25 322 }
KrissyHam 2:82b2a1e84586 323 }