Nama

A textile interface for controlling generative audiovisual output.

Jul 22, 2016

•

7868 views

•

9 respects

wearables

embedded

smart appliances

Components and supplies

SparkFun Triple Axis Accelerometer Breakout - ADXL335

Arduino LilyPad Main Board

Apps and platforms

Arduino IDE

Project description

Code

Processing Code

java

A sample code of how to link the Instrument to Processing, with a simple visualization software.

1//////////////////////////////////////////////////////////////////////////////////////////////
2//   Nama Project v1.0
3// Instrument data receiver.
4// -------------------------------------------------------------------------------------------
5//   All codes created by Luiz Zanotello on May/2012.
6// Under Creative Commons License:   CC BY-NC-SA 3.0.
7// More information at: http://www.viraseres.com/nama
8//////////////////////////////////////////////////////////////////////////////////////////////
9
10//   General configuration
11int baudRate = 115200; //Baud rate 
12int serialPort =   0; //Serial port
13boolean isPrinting = true; //Print to post?
14
15// Libraries
16import   processing.serial.*;
17import processing.opengl.*;
18
19//////////////////////////////////////////////////////////////////////////////////////////////
20
21void   setup() {
22  size(1200, 600, OPENGL);
23  beginSerial();
24  setupFonts();
25   smooth();
26}
27
28void draw() {
29  background(230, 230, 212);
30  visualizeData();
31   if (isPrinting==true) {
32    printValues();
33  }
34}
35
36void printValues()   {
37  println("AC NAME / RAW / FILTERED / DIFFERENCE / FILTERED DIFFERENCE");
38   println("A1(z): "+acData[1][0]+" / "+acData[1][1]+" / "+acData[1][2]+"   / "+acData[1][3]);
39  println("A2(z): "+acData[2][0]+" / "+acData[2][1]+"   / "+acData[2][2]+" / "+acData[2][3]);
40  println("A3(z): "+acData[3][0]+"   / "+acData[3][1]+" / "+acData[3][2]+" / "+acData[3][3]);
41  println("A4(z):   "+acData[4][0]+" / "+acData[4][1]+" / "+acData[4][2]+" / "+acData[4][3]);
42   println("A5(x): "+acData[5][0]+" / "+acData[5][1]+" / "+acData[5][2]+"   / "+acData[5][3]);
43  println("A5(y): "+acData[6][0]+" / "+acData[6][1]+"   / "+acData[6][2]+" / "+acData[6][3]);
44  println("AV(z): "+acData[0][0]+"   / "+acData[0][1]+" / "+acData[0][2]+" / "+acData[0][3]);
45  println();
46}
47
48//////////////////////////////////////////////////////////////////////////////////////////////
49//   Kalman Filter Class.
50// Created by Interactive Matter.
51// (http://github.com/interactive-matter/Processing/tree/master/lis302dl_kalman)
52//   -------------------------------------------------------------------------------------------
53//////////////////////////////////////////////////////////////////////////////////////////////
54
55public   class KalmanFilter {
56  private float q;
57  private float r;
58  private float   x;
59  private float p;
60  private float k;
61  public KalmanFilter(float q,   float r, float p, float initial_value) {
62    this.q=q;
63    this.r=r;
64    this.p=p;
65     this.x=initial_value;
66  }
67  public float addSample(float measurement)   {
68    //omit x=x
69    p=p+q;
70    k=p/(p+r);
71    x= x + k*(measurement-x);
72     p=(1-k)*p;
73    return x;
74  }
75  public String toString() {
76    return   "KalmanFilter with p="+p+", k="+k;
77  }
78  public float getQ() {
79    return   q;
80  }
81  public float getR() {
82    return r;
83  }
84  public float getP()   {
85    return p;
86  }
87  public float getK() {
88    return k;
89  }
90}
91
92//////////////////////////////////////////////////////////////////////////////////////////////
93//   Serial communication and configuration to the Lilypad accelerometer soft circuit.
94//   -------------------------------------------------------------------------------------------
95//////////////////////////////////////////////////////////////////////////////////////////////
96
97//   Use the following variables to calibrate the readings from the accelerometers.
98//   Change the "low" and "high" values of each accelerometer
99// according to   the average lowest and highest values received.
100
101int a1lowZ = 307;
102int   a1highZ = 759;
103int a2lowZ = 294;
104int a2highZ = 727;
105int a3lowZ = 281;
106int   a3highZ = 711;
107int a4lowZ = 286;
108int a4highZ = 717;
109int a5lowX = 303;
110int   a5highX = 769;
111int a5lowY = 298;
112int a5highY = 747;
113
114//////////////////////////////////////////////////////////////////////////////////////////////
115
116//   Mapping variables
117Serial myPort;
118float acData[][] = new float[7][4]; // [raw,   filt, dif, dif filt] [average z, 1, 2, 3, 4, 5x, 5y, 5z]
119float acDataOld[] =   new float[7]; // used for calculating the differences
120float newValue, newValueFiltered,   masterAverage, newDif, rawDif; //mapping
121
122// Kalman filter instances
123//   q(process noise), r(sensor noise), p(estimated error), initial_value
124
125KalmanFilter   filterDif0 = new KalmanFilter(0.1, 16, 0.1, 1);
126KalmanFilter filterDif1 = new   KalmanFilter(0.1, 16, 0.1, 1);
127KalmanFilter filterDif2 = new KalmanFilter(0.1,   16, 0.1, 1);
128KalmanFilter filterDif3 = new KalmanFilter(0.1, 16, 0.1, 1);
129KalmanFilter   filterDif4 = new KalmanFilter(0.1, 16, 0.1, 1);
130KalmanFilter filterDif5 = new   KalmanFilter(0.1, 16, 0.1, 1);
131KalmanFilter filterDif6 = new KalmanFilter(0.1,   16, 0.1, 1);
132KalmanFilter filterDif7 = new KalmanFilter(0.1, 16, 0.1, 1);
133KalmanFilter   filterA1 = new KalmanFilter(0.5, 256, 100, 510);
134KalmanFilter filterA2 = new   KalmanFilter(0.5, 256, 100, 510);
135KalmanFilter filterA3 = new KalmanFilter(0.5,   256, 100, 510);
136KalmanFilter filterA4 = new KalmanFilter(0.5, 256, 100, 510);
137KalmanFilter   filterA5X = new KalmanFilter(0.5, 256, 100, 510);
138KalmanFilter filterA5Y = new   KalmanFilter(0.5, 256, 100, 510);
139KalmanFilter filterMaster = new KalmanFilter(0.5,   256, 100, 510);
140
141//////////////////////////////////////////////////////////////////////////////////////////////
142
143//   Serial Event
144void beginSerial() {
145  myPort = new Serial(this, Serial.list()[serialPort],   baudRate);
146  myPort.bufferUntil(10);
147}
148
149// Map Data
150void serialEvent(Serial   p) {
151  String inString;
152  try {
153    inString = (myPort.readString());
154     if (inString != null) {
155      String[] listSt = split(inString, ',');     
156       if (listSt.length == 7) {
157        masterAverage = 0;
158
159        //////////////////////
160         // Accelerometer 1 - Z
161        newValue = float(listSt[1]);
162        if   (Float.isNaN(newValue)) {
163          newValue = acData[1][0];
164        }
165         acData[1][0] = newValue;
166        masterAverage = masterAverage+newValue;
167         newValueFiltered = constrain(map(filterA1.addSample(newValue), a1lowZ, a1highZ,   0.01, 1.0), 0.001, 2.0);
168        if (Float.isNaN(newValueFiltered)) {
169          newValueFiltered   = acData[1][1];
170        }
171        acData[1][1] = newValueFiltered;
172
173         //////////////////////
174        // Accelerometer 2 - Z
175        newValue   = float(listSt[2]);
176        if (Float.isNaN(newValue)) {
177          newValue   = acData[2][0];
178        }
179        acData[2][0] = newValue;
180        masterAverage   = masterAverage+newValue;
181        newValueFiltered = constrain(map(filterA2.addSample(newValue),   a2lowZ, a2highZ, 0.01, 1.0), 0.001, 2.0);
182        if (Float.isNaN(newValueFiltered))   {
183          newValueFiltered = acData[2][1];
184        }
185        acData[2][1]   = newValueFiltered;
186
187        //////////////////////
188        // Accelerometer   3 - Z
189        newValue = float(listSt[3]);
190        if (Float.isNaN(newValue))   {
191          newValue = acData[3][0];
192        }
193        acData[3][0] = newValue;
194         masterAverage = masterAverage+newValue;
195        newValueFiltered = constrain(map(filterA3.addSample(newValue),   a3lowZ, a3highZ, 0.01, 1.0), 0.001, 2.0);
196        if (Float.isNaN(newValueFiltered))   {
197          newValueFiltered = acData[3][1];
198        }
199        acData[3][1]   = newValueFiltered;
200
201        //////////////////////
202        // Accelerometer   4 - Z
203        newValue = float(listSt[4]);
204        if (Float.isNaN(newValue))   {
205          newValue = acData[4][0];
206        }
207        acData[4][0] = newValue;
208         masterAverage = masterAverage+newValue;
209        newValueFiltered = constrain(map(filterA4.addSample(newValue),   a4lowZ, a4highZ, 0.01, 1.0), 0.001, 2.0);
210        if (Float.isNaN(newValueFiltered))   {
211          newValueFiltered = acData[4][1];
212        }
213        acData[4][1]   = newValueFiltered;
214
215        //////////////////////
216        // Accelerometer   C - X
217        newValue = float(listSt[5]);
218        if (Float.isNaN(newValue))   {
219          newValue = acData[5][0];
220        }
221        acData[5][0] = newValue;
222         newValueFiltered = constrain(map(filterA5X.addSample(newValue), a5lowX,   a5highX, 0.01, 1.0), 0.001, 2.0);
223        if (Float.isNaN(newValueFiltered))   {
224          newValueFiltered = acData[5][1];
225        }
226        acData[5][1]   = newValueFiltered;
227
228        //////////////////////
229        // Accelerometer   C - Y
230        newValue = float(listSt[6]);
231        if (Float.isNaN(newValue))   {
232          newValue =acData[6][0];
233        }
234        acData[6][0] = newValue;
235         newValueFiltered = constrain(map(filterA5Y.addSample(newValue), a5lowY,   a5highY, 0.01, 1.0), 0.001, 2.0);
236        if (Float.isNaN(newValueFiltered))   {
237          newValueFiltered = acData[6][1];
238        }
239        acData[6][1]   = newValueFiltered;
240
241        //////////////////////
242        // Master average   calc
243        newValue = masterAverage/4;
244        if (Float.isNaN(newValue))   {
245          newValue = acData[0][0];
246        }
247        acData[0][0] = newValue;
248         newValueFiltered = constrain(map(filterMaster.addSample(newValue), (a4lowZ+a3lowZ+a2lowZ+a1lowZ)*0.25,   (a4highZ+a3highZ+a2highZ+a1highZ)*0.25, 0.01, 1.0), 0.001, 2.0);
249        if (Float.isNaN(newValueFiltered))   {
250          newValueFiltered = acData[0][1];
251        }
252        acData[0][1]   = newValueFiltered;
253        setDifferences();
254      }
255    }
256  }
257   catch(Exception e) {
258    println(e);
259  }
260}
261
262// Set differences
263void   setDifferences() {
264  for (int i=0;i<acData.length;i++) {
265    acData[i][2]   =  acData[i][1]-acDataOld[i];
266    if (i==0) {
267      acData[i][3] = filterDif0.addSample(acData[i][2]);
268     }
269    if (i==1) {
270      acData[i][3] = filterDif1.addSample(acData[i][2]);
271     }
272    if (i==2) {
273      acData[i][3] = filterDif2.addSample(acData[i][2]);
274     }
275    if (i==3) {
276      acData[i][3] = filterDif3.addSample(acData[i][2]);
277     }
278    if (i==4) {
279      acData[i][3] = filterDif4.addSample(acData[i][2]);
280     }
281    if (i==5) {
282      acData[i][3] = filterDif5.addSample(acData[i][2]);
283     }
284    if (i==6) {
285      acData[i][3] = filterDif6.addSample(acData[i][2]);
286     }
287    if (Float.isNaN(acData[i][3])) {
288      acData[i][3] = acDataOld[i];
289     }
290    if (acData[i][3]<0.0001) {
291      acData[i][3]=0;
292    }
293    if   (acData[i][2]<0.0001) {
294      acData[i][2]=0;
295    }
296    acDataOld[i] =   acData[i][1];
297  }
298}
299
300//////////////////////////////////////////////////////////////////////////////////////////////
301//   Graphical visualization of the interface data.
302// -------------------------------------------------------------------------------------------
303//////////////////////////////////////////////////////////////////////////////////////////////
304
305//   Config
306int interfaceDimensionX = 128;
307int interfaceDimensionY = 134;
308
309//   Mapping variables
310PFont titleFont, contentFont, copyrightFont;
311float goPoint[][]   = new float[5][3];
312float baseX, baseY;
313
314void setupFonts() {
315  titleFont   = loadFont("ArialNarrow-23.vlw");
316  contentFont = loadFont("Courier-15.vlw");
317   copyrightFont = loadFont("Courier-9.vlw");
318}
319
320void visualizeData()   {
321  // Bg  
322  fill(35, 41, 44);
323  rect(-2, -2, 380, height+4);
324  
325   // Base position of text
326  baseX = 60;
327  baseY = 214;
328
329  // Title
330   textFont(titleFont);
331  fill(230, 230, 212);
332  text("Nama Instrument v1.0",   baseX-6, baseY-60); 
333  textFont(contentFont);
334  fill(230, 230, 212);
335  text("",   baseX-6, baseY-28);
336  textFont(copyrightFont);
337  text("ACC:       RAW  FILTER   DIF  DIF+FILTER", baseX-6, baseY);
338  
339  // 1
340  baseY = baseY+34;
341   textFont(titleFont);
342  fill(215, 102, 124);
343  text("A1z: ", baseX-6, baseY);   
344  fill(230, 230, 212);
345  textFont(contentFont);
346  text(int(acData[1][0]),   baseX+48, baseY-3);
347  text("", baseX+79, baseY-3);
348  text(acData[1][1],   baseX+84, baseY-3);
349  text("", baseX+142, baseY-3);
350  text(acData[1][2],   baseX+147, baseY-3);
351  text("", baseX+205, baseY-3);
352  text(acData[1][3],   baseX+210, baseY-3);
353
354  // 2
355  baseY = baseY+34;
356  textFont(titleFont);
357   fill(215, 181, 102);
358  text("A2z: ", baseX-6, baseY); 
359  fill(230, 230,   212);
360  textFont(contentFont);
361  text(int(acData[2][0]), baseX+48, baseY-3);
362   text("", baseX+79, baseY-3);
363  text(acData[2][1], baseX+84, baseY-3);
364   text("", baseX+142, baseY-3);
365  text(acData[2][2], baseX+147, baseY-3);
366   text("", baseX+205, baseY-3);
367  text(acData[2][3], baseX+210, baseY-3);
368
369   // 3
370  baseY = baseY+34;
371  textFont(titleFont);
372  fill(102, 215, 161);
373   text("A3z: ", baseX-6, baseY); 
374  fill(230, 230, 212);
375  textFont(contentFont);
376   text(int(acData[3][0]), baseX+48, baseY-3);
377  text("", baseX+79, baseY-3);
378   text(acData[3][1], baseX+84, baseY-3);
379  text("", baseX+142, baseY-3);
380   text(acData[3][2], baseX+147, baseY-3);
381  text("", baseX+205, baseY-3);
382   text(acData[3][3], baseX+210, baseY-3);
383
384  // 4
385  baseY = baseY+34;
386   textFont(titleFont);
387  fill(102, 130, 215);
388  text("A4z: ", baseX-6, baseY);   
389  fill(230, 230, 212);
390  textFont(contentFont);
391  text(int(acData[4][0]),   baseX+48, baseY-3);
392  text("", baseX+79, baseY-3);
393  text(acData[4][1],   baseX+84, baseY-3);
394  text("", baseX+142, baseY-3);
395  text(acData[4][2],   baseX+147, baseY-3);
396  text("", baseX+205, baseY-3);
397  text(acData[4][3],   baseX+210, baseY-3);
398
399  // 5x
400  baseY = baseY+34;
401  textFont(titleFont);
402   fill(139, 137, 127);
403  text("A5x: ", baseX-6, baseY); 
404  fill(230, 230,   212);
405  textFont(contentFont);
406  text(int(acData[5][0]), baseX+48, baseY-3);
407   text("", baseX+79, baseY-3);
408  text(acData[5][1], baseX+84, baseY-3);
409   text("", baseX+142, baseY-3);
410  text(acData[5][2], baseX+147, baseY-3);
411   text("", baseX+205, baseY-3);
412  text(acData[5][3], baseX+210, baseY-3);
413
414   // 5y
415  baseY = baseY+34;
416  textFont(titleFont);
417  fill(139, 137, 127);
418   text("A5y: ", baseX-6, baseY); 
419  fill(230, 230, 212);
420  textFont(contentFont);
421   text(int(acData[6][0]), baseX+48, baseY-3);
422  text("", baseX+79, baseY-3);
423   text(acData[6][1], baseX+84, baseY-3);
424  text("", baseX+142, baseY-3);
425   text(acData[6][2], baseX+147, baseY-3);
426  text("", baseX+205, baseY-3);
427   text(acData[6][3], baseX+210, baseY-3);
428
429  // separador
430  baseY = baseY+34;
431   textFont(contentFont);
432  fill(230, 230, 212);
433  text("", baseX-6, baseY-3);
434
435   // Average
436  baseY = baseY+34;
437  textFont(titleFont);
438  fill(230, 230,   212);
439  text("AVz: ", baseX-6, baseY); 
440  fill(230, 230, 212);
441  textFont(contentFont);
442   text(int(acData[0][0]), baseX+48, baseY-3);
443  text("", baseX+79, baseY-3);
444   text(acData[0][1], baseX+84, baseY-3);
445  text("", baseX+142, baseY-3);
446   text(acData[0][2], baseX+147, baseY-3);
447  text("", baseX+205, baseY-3);
448   text(acData[0][3], baseX+210, baseY-3);
449  
450  // Credits
451  textFont(copyrightFont);
452   fill(35, 41, 44);
453  text("created by luiz gustavo zanotello at jun/2012",   width-233, height-30);
454  text("http://www.viraseres.com/nama", width-154, height-20);
455   text("under CC BY-NC-SA 3.0", width-114, height-10);
456
457  ////////////////////////////////////////////////////////////////////////////////////////////
458   // Graph
459  noStroke();
460  fill(255);
461  baseX = width-width/3+map(acData[5][1],   0, 1, -1, 1)*100;
462  baseY = height/2+map(acData[6][1], 0, 1, -1, 1)*100+map(acData[0][1],   0, 1, -1, 1)*50;
463  translate(baseX, baseY, map(acData[0][1], 0, 1, 50, -100));
464   perspective();
465  rotateX(radians(acData[5][1]*360));
466  rotateY(radians(acData[6][1]*360));
467   rotateZ(radians(acData[0][1]*360));
468  directionalLight(120, 120, 120, 0, -1,   -1);
469  ambientLight(230, 230, 230);
470
471  // 4
472  fill(142-(acData[2][3]*255*100),   170-(acData[2][3]*255*100), 255-(acData[2][3]*255*100), 90+(acData[4][3]*255*100));
473   goPoint[4][0] = 0-interfaceDimensionX+map(acData[4][1], 0, 1, -100, 100);
474   goPoint[4][1] = interfaceDimensionY/2+map(acData[4][1], 0, 1, -100, 100);
475   goPoint[4][2] = map(acData[4][1], 0, 1, -400, 400);
476  pushMatrix();
477  translate(goPoint[4][0],   goPoint[4][1], goPoint[4][2]);
478  sphere(6);
479  popMatrix();
480
481  // 3
482   fill(142-(acData[1][3]*255*100), 255-(acData[1][3]*255*100), 201-(acData[1][3]*255*100),   90+(acData[4][3]*255*100));
483  goPoint[3][0] = 0-interfaceDimensionX+map(acData[3][1],   0, 1, -100, 100);
484  goPoint[3][1] = 0-interfaceDimensionY/2+map(acData[3][1],   0, 1, -100, 100);
485  goPoint[3][2] = map(acData[3][1], 0, 1, -400, 400);
486  pushMatrix();
487   translate(goPoint[3][0], goPoint[3][1], goPoint[3][2]);
488  sphere(6);
489  popMatrix();
490
491   // 2
492  fill(255-(acData[3][3]*255*100), 221-(acData[3][3]*255*100), 142-(acData[3][3]*255*100),   90+(acData[4][3]*255*100));
493  goPoint[2][0] = interfaceDimensionX+map(acData[2][1],   0, 1, -100, 100);
494  goPoint[2][1] = 0-interfaceDimensionY/2+map(acData[2][1],   0, 1, -100, 100);
495  goPoint[2][2] = map(acData[2][1], 0, 1, -400, 400);
496  pushMatrix();
497   translate(goPoint[2][0], goPoint[2][1], goPoint[2][2]);
498  sphere(6);
499  popMatrix();
500
501   // 1
502  fill(255-(acData[4][3]*255*100), 142-(acData[4][3]*255*100), 164-(acData[4][3]*255*100),   90+(acData[4][3]*255*100));
503  goPoint[1][0] = interfaceDimensionX+map(acData[1][1],   0, 1, -100, 100);
504  goPoint[1][1] = interfaceDimensionY/2+map(acData[1][1], 0,   1, -100, 100);
505  goPoint[1][2] = map(acData[1][1], 0, 1, -400, 400);
506  pushMatrix();
507   translate(goPoint[1][0], goPoint[1][1], goPoint[1][2]);
508  sphere(6);
509  popMatrix();
510
511   // C
512  fill(179-(acData[5][3]*255*100)-(acData[6][3]*255*100), 177-(acData[5][3]*255*100)-(acData[6][3]*255*100),   167-(acData[5][3]*255*100)-(acData[6][3]*255*100), 90+(acData[5][3]*255*100)+(acData[6][3]*255*100));
513   goPoint[0][0] = map(acData[5][1], 0, 1, -400, 400);
514  goPoint[0][1] = map(acData[6][1],   0, 1, -400, 400);
515  goPoint[0][2] = map(acData[0][1], 0, 1, -100, 100);
516  pushMatrix();
517   translate(goPoint[0][0], goPoint[0][1], goPoint[0][2]);
518  sphere(6);
519  popMatrix();
520
521   // Lines
522  stroke(255);
523  line(goPoint[0][0], goPoint[0][1], goPoint[0][2],   goPoint[1][0], goPoint[1][1], goPoint[1][2]);
524  line(goPoint[0][0], goPoint[0][1],   goPoint[0][2], goPoint[2][0], goPoint[2][1], goPoint[2][2]);
525  line(goPoint[0][0],   goPoint[0][1], goPoint[0][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
526   line(goPoint[0][0], goPoint[0][1], goPoint[0][2], goPoint[4][0], goPoint[4][1],   goPoint[4][2]);
527  line(goPoint[1][0], goPoint[1][1], goPoint[1][2], goPoint[2][0],   goPoint[2][1], goPoint[2][2]);
528  line(goPoint[1][0], goPoint[1][1], goPoint[1][2],   goPoint[3][0], goPoint[3][1], goPoint[3][2]);
529  line(goPoint[1][0], goPoint[1][1],   goPoint[1][2], goPoint[4][0], goPoint[4][1], goPoint[4][2]);
530  line(goPoint[2][0],   goPoint[2][1], goPoint[2][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
531   line(goPoint[2][0], goPoint[2][1], goPoint[2][2], goPoint[4][0], goPoint[4][1],   goPoint[4][2]);
532  line(goPoint[3][0], goPoint[3][1], goPoint[3][2], goPoint[4][0],   goPoint[4][1], goPoint[4][2]);
533}

//////////////////////////////////////////////////////////////////////////////////////////////
//   Nama Project v1.0
// Instrument data receiver.
// -------------------------------------------------------------------------------------------
//   All codes created by Luiz Zanotello on May/2012.
// Under Creative Commons License:   CC BY-NC-SA 3.0.
// More information at: http://www.viraseres.com/nama
//////////////////////////////////////////////////////////////////////////////////////////////

//   General configuration
int baudRate = 115200; //Baud rate 
int serialPort =   0; //Serial port
boolean isPrinting = true; //Print to post?

// Libraries
import   processing.serial.*;
import processing.opengl.*;

//////////////////////////////////////////////////////////////////////////////////////////////

void   setup() {
  size(1200, 600, OPENGL);
  beginSerial();
  setupFonts();
   smooth();
}

void draw() {
  background(230, 230, 212);
  visualizeData();
   if (isPrinting==true) {
    printValues();
  }
}

void printValues()   {
  println("AC NAME / RAW / FILTERED / DIFFERENCE / FILTERED DIFFERENCE");
   println("A1(z): "+acData[1][0]+" / "+acData[1][1]+" / "+acData[1][2]+"   / "+acData[1][3]);
  println("A2(z): "+acData[2][0]+" / "+acData[2][1]+"   / "+acData[2][2]+" / "+acData[2][3]);
  println("A3(z): "+acData[3][0]+"   / "+acData[3][1]+" / "+acData[3][2]+" / "+acData[3][3]);
  println("A4(z):   "+acData[4][0]+" / "+acData[4][1]+" / "+acData[4][2]+" / "+acData[4][3]);
   println("A5(x): "+acData[5][0]+" / "+acData[5][1]+" / "+acData[5][2]+"   / "+acData[5][3]);
  println("A5(y): "+acData[6][0]+" / "+acData[6][1]+"   / "+acData[6][2]+" / "+acData[6][3]);
  println("AV(z): "+acData[0][0]+"   / "+acData[0][1]+" / "+acData[0][2]+" / "+acData[0][3]);
  println();
}

//////////////////////////////////////////////////////////////////////////////////////////////
//   Kalman Filter Class.
// Created by Interactive Matter.
// (http://github.com/interactive-matter/Processing/tree/master/lis302dl_kalman)
//   -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

public   class KalmanFilter {
  private float q;
  private float r;
  private float   x;
  private float p;
  private float k;
  public KalmanFilter(float q,   float r, float p, float initial_value) {
    this.q=q;
    this.r=r;
    this.p=p;
     this.x=initial_value;
  }
  public float addSample(float measurement)   {
    //omit x=x
    p=p+q;
    k=p/(p+r);
    x= x + k*(measurement-x);
     p=(1-k)*p;
    return x;
  }
  public String toString() {
    return   "KalmanFilter with p="+p+", k="+k;
  }
  public float getQ() {
    return   q;
  }
  public float getR() {
    return r;
  }
  public float getP()   {
    return p;
  }
  public float getK() {
    return k;
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
//   Serial communication and configuration to the Lilypad accelerometer soft circuit.
//   -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

//   Use the following variables to calibrate the readings from the accelerometers.
//   Change the "low" and "high" values of each accelerometer
// according to   the average lowest and highest values received.

int a1lowZ = 307;
int   a1highZ = 759;
int a2lowZ = 294;
int a2highZ = 727;
int a3lowZ = 281;
int   a3highZ = 711;
int a4lowZ = 286;
int a4highZ = 717;
int a5lowX = 303;
int   a5highX = 769;
int a5lowY = 298;
int a5highY = 747;

//////////////////////////////////////////////////////////////////////////////////////////////

//   Mapping variables
Serial myPort;
float acData[][] = new float[7][4]; // [raw,   filt, dif, dif filt] [average z, 1, 2, 3, 4, 5x, 5y, 5z]
float acDataOld[] =   new float[7]; // used for calculating the differences
float newValue, newValueFiltered,   masterAverage, newDif, rawDif; //mapping

// Kalman filter instances
//   q(process noise), r(sensor noise), p(estimated error), initial_value

KalmanFilter   filterDif0 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif1 = new   KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif2 = new KalmanFilter(0.1,   16, 0.1, 1);
KalmanFilter filterDif3 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter   filterDif4 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif5 = new   KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif6 = new KalmanFilter(0.1,   16, 0.1, 1);
KalmanFilter filterDif7 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter   filterA1 = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA2 = new   KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA3 = new KalmanFilter(0.5,   256, 100, 510);
KalmanFilter filterA4 = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter   filterA5X = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA5Y = new   KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterMaster = new KalmanFilter(0.5,   256, 100, 510);

//////////////////////////////////////////////////////////////////////////////////////////////

//   Serial Event
void beginSerial() {
  myPort = new Serial(this, Serial.list()[serialPort],   baudRate);
  myPort.bufferUntil(10);
}

// Map Data
void serialEvent(Serial   p) {
  String inString;
  try {
    inString = (myPort.readString());
     if (inString != null) {
      String[] listSt = split(inString, ',');     
       if (listSt.length == 7) {
        masterAverage = 0;

        //////////////////////
         // Accelerometer 1 - Z
        newValue = float(listSt[1]);
        if   (Float.isNaN(newValue)) {
          newValue = acData[1][0];
        }
         acData[1][0] = newValue;
        masterAverage = masterAverage+newValue;
         newValueFiltered = constrain(map(filterA1.addSample(newValue), a1lowZ, a1highZ,   0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered)) {
          newValueFiltered   = acData[1][1];
        }
        acData[1][1] = newValueFiltered;

         //////////////////////
        // Accelerometer 2 - Z
        newValue   = float(listSt[2]);
        if (Float.isNaN(newValue)) {
          newValue   = acData[2][0];
        }
        acData[2][0] = newValue;
        masterAverage   = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA2.addSample(newValue),   a2lowZ, a2highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[2][1];
        }
        acData[2][1]   = newValueFiltered;

        //////////////////////
        // Accelerometer   3 - Z
        newValue = float(listSt[3]);
        if (Float.isNaN(newValue))   {
          newValue = acData[3][0];
        }
        acData[3][0] = newValue;
         masterAverage = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA3.addSample(newValue),   a3lowZ, a3highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[3][1];
        }
        acData[3][1]   = newValueFiltered;

        //////////////////////
        // Accelerometer   4 - Z
        newValue = float(listSt[4]);
        if (Float.isNaN(newValue))   {
          newValue = acData[4][0];
        }
        acData[4][0] = newValue;
         masterAverage = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA4.addSample(newValue),   a4lowZ, a4highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[4][1];
        }
        acData[4][1]   = newValueFiltered;

        //////////////////////
        // Accelerometer   C - X
        newValue = float(listSt[5]);
        if (Float.isNaN(newValue))   {
          newValue = acData[5][0];
        }
        acData[5][0] = newValue;
         newValueFiltered = constrain(map(filterA5X.addSample(newValue), a5lowX,   a5highX, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[5][1];
        }
        acData[5][1]   = newValueFiltered;

        //////////////////////
        // Accelerometer   C - Y
        newValue = float(listSt[6]);
        if (Float.isNaN(newValue))   {
          newValue =acData[6][0];
        }
        acData[6][0] = newValue;
         newValueFiltered = constrain(map(filterA5Y.addSample(newValue), a5lowY,   a5highY, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[6][1];
        }
        acData[6][1]   = newValueFiltered;

        //////////////////////
        // Master average   calc
        newValue = masterAverage/4;
        if (Float.isNaN(newValue))   {
          newValue = acData[0][0];
        }
        acData[0][0] = newValue;
         newValueFiltered = constrain(map(filterMaster.addSample(newValue), (a4lowZ+a3lowZ+a2lowZ+a1lowZ)*0.25,   (a4highZ+a3highZ+a2highZ+a1highZ)*0.25, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))   {
          newValueFiltered = acData[0][1];
        }
        acData[0][1]   = newValueFiltered;
        setDifferences();
      }
    }
  }
   catch(Exception e) {
    println(e);
  }
}

// Set differences
void   setDifferences() {
  for (int i=0;i<acData.length;i++) {
    acData[i][2]   =  acData[i][1]-acDataOld[i];
    if (i==0) {
      acData[i][3] = filterDif0.addSample(acData[i][2]);
     }
    if (i==1) {
      acData[i][3] = filterDif1.addSample(acData[i][2]);
     }
    if (i==2) {
      acData[i][3] = filterDif2.addSample(acData[i][2]);
     }
    if (i==3) {
      acData[i][3] = filterDif3.addSample(acData[i][2]);
     }
    if (i==4) {
      acData[i][3] = filterDif4.addSample(acData[i][2]);
     }
    if (i==5) {
      acData[i][3] = filterDif5.addSample(acData[i][2]);
     }
    if (i==6) {
      acData[i][3] = filterDif6.addSample(acData[i][2]);
     }
    if (Float.isNaN(acData[i][3])) {
      acData[i][3] = acDataOld[i];
     }
    if (acData[i][3]<0.0001) {
      acData[i][3]=0;
    }
    if   (acData[i][2]<0.0001) {
      acData[i][2]=0;
    }
    acDataOld[i] =   acData[i][1];
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
//   Graphical visualization of the interface data.
// -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

//   Config
int interfaceDimensionX = 128;
int interfaceDimensionY = 134;

//   Mapping variables
PFont titleFont, contentFont, copyrightFont;
float goPoint[][]   = new float[5][3];
float baseX, baseY;

void setupFonts() {
  titleFont   = loadFont("ArialNarrow-23.vlw");
  contentFont = loadFont("Courier-15.vlw");
   copyrightFont = loadFont("Courier-9.vlw");
}

void visualizeData()   {
  // Bg  
  fill(35, 41, 44);
  rect(-2, -2, 380, height+4);
  
   // Base position of text
  baseX = 60;
  baseY = 214;

  // Title
   textFont(titleFont);
  fill(230, 230, 212);
  text("Nama Instrument v1.0",   baseX-6, baseY-60); 
  textFont(contentFont);
  fill(230, 230, 212);
  text("",   baseX-6, baseY-28);
  textFont(copyrightFont);
  text("ACC:       RAW  FILTER   DIF  DIF+FILTER", baseX-6, baseY);
  
  // 1
  baseY = baseY+34;
   textFont(titleFont);
  fill(215, 102, 124);
  text("A1z: ", baseX-6, baseY);   
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[1][0]),   baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[1][1],   baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[1][2],   baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[1][3],   baseX+210, baseY-3);

  // 2
  baseY = baseY+34;
  textFont(titleFont);
   fill(215, 181, 102);
  text("A2z: ", baseX-6, baseY); 
  fill(230, 230,   212);
  textFont(contentFont);
  text(int(acData[2][0]), baseX+48, baseY-3);
   text("", baseX+79, baseY-3);
  text(acData[2][1], baseX+84, baseY-3);
   text("", baseX+142, baseY-3);
  text(acData[2][2], baseX+147, baseY-3);
   text("", baseX+205, baseY-3);
  text(acData[2][3], baseX+210, baseY-3);

   // 3
  baseY = baseY+34;
  textFont(titleFont);
  fill(102, 215, 161);
   text("A3z: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
   text(int(acData[3][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
   text(acData[3][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
   text(acData[3][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
   text(acData[3][3], baseX+210, baseY-3);

  // 4
  baseY = baseY+34;
   textFont(titleFont);
  fill(102, 130, 215);
  text("A4z: ", baseX-6, baseY);   
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[4][0]),   baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[4][1],   baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[4][2],   baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[4][3],   baseX+210, baseY-3);

  // 5x
  baseY = baseY+34;
  textFont(titleFont);
   fill(139, 137, 127);
  text("A5x: ", baseX-6, baseY); 
  fill(230, 230,   212);
  textFont(contentFont);
  text(int(acData[5][0]), baseX+48, baseY-3);
   text("", baseX+79, baseY-3);
  text(acData[5][1], baseX+84, baseY-3);
   text("", baseX+142, baseY-3);
  text(acData[5][2], baseX+147, baseY-3);
   text("", baseX+205, baseY-3);
  text(acData[5][3], baseX+210, baseY-3);

   // 5y
  baseY = baseY+34;
  textFont(titleFont);
  fill(139, 137, 127);
   text("A5y: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
   text(int(acData[6][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
   text(acData[6][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
   text(acData[6][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
   text(acData[6][3], baseX+210, baseY-3);

  // separador
  baseY = baseY+34;
   textFont(contentFont);
  fill(230, 230, 212);
  text("", baseX-6, baseY-3);

   // Average
  baseY = baseY+34;
  textFont(titleFont);
  fill(230, 230,   212);
  text("AVz: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
   text(int(acData[0][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
   text(acData[0][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
   text(acData[0][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
   text(acData[0][3], baseX+210, baseY-3);
  
  // Credits
  textFont(copyrightFont);
   fill(35, 41, 44);
  text("created by luiz gustavo zanotello at jun/2012",   width-233, height-30);
  text("http://www.viraseres.com/nama", width-154, height-20);
   text("under CC BY-NC-SA 3.0", width-114, height-10);

  ////////////////////////////////////////////////////////////////////////////////////////////
   // Graph
  noStroke();
  fill(255);
  baseX = width-width/3+map(acData[5][1],   0, 1, -1, 1)*100;
  baseY = height/2+map(acData[6][1], 0, 1, -1, 1)*100+map(acData[0][1],   0, 1, -1, 1)*50;
  translate(baseX, baseY, map(acData[0][1], 0, 1, 50, -100));
   perspective();
  rotateX(radians(acData[5][1]*360));
  rotateY(radians(acData[6][1]*360));
   rotateZ(radians(acData[0][1]*360));
  directionalLight(120, 120, 120, 0, -1,   -1);
  ambientLight(230, 230, 230);

  // 4
  fill(142-(acData[2][3]*255*100),   170-(acData[2][3]*255*100), 255-(acData[2][3]*255*100), 90+(acData[4][3]*255*100));
   goPoint[4][0] = 0-interfaceDimensionX+map(acData[4][1], 0, 1, -100, 100);
   goPoint[4][1] = interfaceDimensionY/2+map(acData[4][1], 0, 1, -100, 100);
   goPoint[4][2] = map(acData[4][1], 0, 1, -400, 400);
  pushMatrix();
  translate(goPoint[4][0],   goPoint[4][1], goPoint[4][2]);
  sphere(6);
  popMatrix();

  // 3
   fill(142-(acData[1][3]*255*100), 255-(acData[1][3]*255*100), 201-(acData[1][3]*255*100),   90+(acData[4][3]*255*100));
  goPoint[3][0] = 0-interfaceDimensionX+map(acData[3][1],   0, 1, -100, 100);
  goPoint[3][1] = 0-interfaceDimensionY/2+map(acData[3][1],   0, 1, -100, 100);
  goPoint[3][2] = map(acData[3][1], 0, 1, -400, 400);
  pushMatrix();
   translate(goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  sphere(6);
  popMatrix();

   // 2
  fill(255-(acData[3][3]*255*100), 221-(acData[3][3]*255*100), 142-(acData[3][3]*255*100),   90+(acData[4][3]*255*100));
  goPoint[2][0] = interfaceDimensionX+map(acData[2][1],   0, 1, -100, 100);
  goPoint[2][1] = 0-interfaceDimensionY/2+map(acData[2][1],   0, 1, -100, 100);
  goPoint[2][2] = map(acData[2][1], 0, 1, -400, 400);
  pushMatrix();
   translate(goPoint[2][0], goPoint[2][1], goPoint[2][2]);
  sphere(6);
  popMatrix();

   // 1
  fill(255-(acData[4][3]*255*100), 142-(acData[4][3]*255*100), 164-(acData[4][3]*255*100),   90+(acData[4][3]*255*100));
  goPoint[1][0] = interfaceDimensionX+map(acData[1][1],   0, 1, -100, 100);
  goPoint[1][1] = interfaceDimensionY/2+map(acData[1][1], 0,   1, -100, 100);
  goPoint[1][2] = map(acData[1][1], 0, 1, -400, 400);
  pushMatrix();
   translate(goPoint[1][0], goPoint[1][1], goPoint[1][2]);
  sphere(6);
  popMatrix();

   // C
  fill(179-(acData[5][3]*255*100)-(acData[6][3]*255*100), 177-(acData[5][3]*255*100)-(acData[6][3]*255*100),   167-(acData[5][3]*255*100)-(acData[6][3]*255*100), 90+(acData[5][3]*255*100)+(acData[6][3]*255*100));
   goPoint[0][0] = map(acData[5][1], 0, 1, -400, 400);
  goPoint[0][1] = map(acData[6][1],   0, 1, -400, 400);
  goPoint[0][2] = map(acData[0][1], 0, 1, -100, 100);
  pushMatrix();
   translate(goPoint[0][0], goPoint[0][1], goPoint[0][2]);
  sphere(6);
  popMatrix();

   // Lines
  stroke(255);
  line(goPoint[0][0], goPoint[0][1], goPoint[0][2],   goPoint[1][0], goPoint[1][1], goPoint[1][2]);
  line(goPoint[0][0], goPoint[0][1],   goPoint[0][2], goPoint[2][0], goPoint[2][1], goPoint[2][2]);
  line(goPoint[0][0],   goPoint[0][1], goPoint[0][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
   line(goPoint[0][0], goPoint[0][1], goPoint[0][2], goPoint[4][0], goPoint[4][1],   goPoint[4][2]);
  line(goPoint[1][0], goPoint[1][1], goPoint[1][2], goPoint[2][0],   goPoint[2][1], goPoint[2][2]);
  line(goPoint[1][0], goPoint[1][1], goPoint[1][2],   goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  line(goPoint[1][0], goPoint[1][1],   goPoint[1][2], goPoint[4][0], goPoint[4][1], goPoint[4][2]);
  line(goPoint[2][0],   goPoint[2][1], goPoint[2][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
   line(goPoint[2][0], goPoint[2][1], goPoint[2][2], goPoint[4][0], goPoint[4][1],   goPoint[4][2]);
  line(goPoint[3][0], goPoint[3][1], goPoint[3][2], goPoint[4][0],   goPoint[4][1], goPoint[4][2]);
}

Processing Code

java

A sample code of how to link the Instrument to Processing, with a simple visualization software.

1//////////////////////////////////////////////////////////////////////////////////////////////
2//  Nama Project v1.0
3// Instrument data receiver.
4// -------------------------------------------------------------------------------------------
5//  All codes created by Luiz Zanotello on May/2012.
6// Under Creative Commons License:  CC BY-NC-SA 3.0.
7// More information at: http://www.viraseres.com/nama
8//////////////////////////////////////////////////////////////////////////////////////////////
9
10//  General configuration
11int baudRate = 115200; //Baud rate 
12int serialPort =  0; //Serial port
13boolean isPrinting = true; //Print to post?
14
15// Libraries
16import  processing.serial.*;
17import processing.opengl.*;
18
19//////////////////////////////////////////////////////////////////////////////////////////////
20
21void  setup() {
22  size(1200, 600, OPENGL);
23  beginSerial();
24  setupFonts();
25  smooth();
26}
27
28void draw() {
29  background(230, 230, 212);
30  visualizeData();
31  if (isPrinting==true) {
32    printValues();
33  }
34}
35
36void printValues()  {
37  println("AC NAME / RAW / FILTERED / DIFFERENCE / FILTERED DIFFERENCE");
38  println("A1(z): "+acData[1][0]+" / "+acData[1][1]+" / "+acData[1][2]+"  / "+acData[1][3]);
39  println("A2(z): "+acData[2][0]+" / "+acData[2][1]+"  / "+acData[2][2]+" / "+acData[2][3]);
40  println("A3(z): "+acData[3][0]+"  / "+acData[3][1]+" / "+acData[3][2]+" / "+acData[3][3]);
41  println("A4(z):  "+acData[4][0]+" / "+acData[4][1]+" / "+acData[4][2]+" / "+acData[4][3]);
42  println("A5(x): "+acData[5][0]+" / "+acData[5][1]+" / "+acData[5][2]+"  / "+acData[5][3]);
43  println("A5(y): "+acData[6][0]+" / "+acData[6][1]+"  / "+acData[6][2]+" / "+acData[6][3]);
44  println("AV(z): "+acData[0][0]+"  / "+acData[0][1]+" / "+acData[0][2]+" / "+acData[0][3]);
45  println();
46}
47
48//////////////////////////////////////////////////////////////////////////////////////////////
49//  Kalman Filter Class.
50// Created by Interactive Matter.
51// (http://github.com/interactive-matter/Processing/tree/master/lis302dl_kalman)
52//  -------------------------------------------------------------------------------------------
53//////////////////////////////////////////////////////////////////////////////////////////////
54
55public  class KalmanFilter {
56  private float q;
57  private float r;
58  private float  x;
59  private float p;
60  private float k;
61  public KalmanFilter(float q,  float r, float p, float initial_value) {
62    this.q=q;
63    this.r=r;
64    this.p=p;
65    this.x=initial_value;
66  }
67  public float addSample(float measurement)  {
68    //omit x=x
69    p=p+q;
70    k=p/(p+r);
71    x= x + k*(measurement-x);
72    p=(1-k)*p;
73    return x;
74  }
75  public String toString() {
76    return  "KalmanFilter with p="+p+", k="+k;
77  }
78  public float getQ() {
79    return  q;
80  }
81  public float getR() {
82    return r;
83  }
84  public float getP()  {
85    return p;
86  }
87  public float getK() {
88    return k;
89  }
90}
91
92//////////////////////////////////////////////////////////////////////////////////////////////
93//  Serial communication and configuration to the Lilypad accelerometer soft circuit.
94//  -------------------------------------------------------------------------------------------
95//////////////////////////////////////////////////////////////////////////////////////////////
96
97//  Use the following variables to calibrate the readings from the accelerometers.
98//  Change the "low" and "high" values of each accelerometer
99// according to  the average lowest and highest values received.
100
101int a1lowZ = 307;
102int  a1highZ = 759;
103int a2lowZ = 294;
104int a2highZ = 727;
105int a3lowZ = 281;
106int  a3highZ = 711;
107int a4lowZ = 286;
108int a4highZ = 717;
109int a5lowX = 303;
110int  a5highX = 769;
111int a5lowY = 298;
112int a5highY = 747;
113
114//////////////////////////////////////////////////////////////////////////////////////////////
115
116//  Mapping variables
117Serial myPort;
118float acData[][] = new float[7][4]; // [raw,  filt, dif, dif filt] [average z, 1, 2, 3, 4, 5x, 5y, 5z]
119float acDataOld[] =  new float[7]; // used for calculating the differences
120float newValue, newValueFiltered,  masterAverage, newDif, rawDif; //mapping
121
122// Kalman filter instances
123//  q(process noise), r(sensor noise), p(estimated error), initial_value
124
125KalmanFilter  filterDif0 = new KalmanFilter(0.1, 16, 0.1, 1);
126KalmanFilter filterDif1 = new  KalmanFilter(0.1, 16, 0.1, 1);
127KalmanFilter filterDif2 = new KalmanFilter(0.1,  16, 0.1, 1);
128KalmanFilter filterDif3 = new KalmanFilter(0.1, 16, 0.1, 1);
129KalmanFilter  filterDif4 = new KalmanFilter(0.1, 16, 0.1, 1);
130KalmanFilter filterDif5 = new  KalmanFilter(0.1, 16, 0.1, 1);
131KalmanFilter filterDif6 = new KalmanFilter(0.1,  16, 0.1, 1);
132KalmanFilter filterDif7 = new KalmanFilter(0.1, 16, 0.1, 1);
133KalmanFilter  filterA1 = new KalmanFilter(0.5, 256, 100, 510);
134KalmanFilter filterA2 = new  KalmanFilter(0.5, 256, 100, 510);
135KalmanFilter filterA3 = new KalmanFilter(0.5,  256, 100, 510);
136KalmanFilter filterA4 = new KalmanFilter(0.5, 256, 100, 510);
137KalmanFilter  filterA5X = new KalmanFilter(0.5, 256, 100, 510);
138KalmanFilter filterA5Y = new  KalmanFilter(0.5, 256, 100, 510);
139KalmanFilter filterMaster = new KalmanFilter(0.5,  256, 100, 510);
140
141//////////////////////////////////////////////////////////////////////////////////////////////
142
143//  Serial Event
144void beginSerial() {
145  myPort = new Serial(this, Serial.list()[serialPort],  baudRate);
146  myPort.bufferUntil(10);
147}
148
149// Map Data
150void serialEvent(Serial  p) {
151  String inString;
152  try {
153    inString = (myPort.readString());
154    if (inString != null) {
155      String[] listSt = split(inString, ',');     
156      if (listSt.length == 7) {
157        masterAverage = 0;
158
159        //////////////////////
160        // Accelerometer 1 - Z
161        newValue = float(listSt[1]);
162        if  (Float.isNaN(newValue)) {
163          newValue = acData[1][0];
164        }
165        acData[1][0] = newValue;
166        masterAverage = masterAverage+newValue;
167        newValueFiltered = constrain(map(filterA1.addSample(newValue), a1lowZ, a1highZ,  0.01, 1.0), 0.001, 2.0);
168        if (Float.isNaN(newValueFiltered)) {
169          newValueFiltered  = acData[1][1];
170        }
171        acData[1][1] = newValueFiltered;
172
173        //////////////////////
174        // Accelerometer 2 - Z
175        newValue  = float(listSt[2]);
176        if (Float.isNaN(newValue)) {
177          newValue  = acData[2][0];
178        }
179        acData[2][0] = newValue;
180        masterAverage  = masterAverage+newValue;
181        newValueFiltered = constrain(map(filterA2.addSample(newValue),  a2lowZ, a2highZ, 0.01, 1.0), 0.001, 2.0);
182        if (Float.isNaN(newValueFiltered))  {
183          newValueFiltered = acData[2][1];
184        }
185        acData[2][1]  = newValueFiltered;
186
187        //////////////////////
188        // Accelerometer  3 - Z
189        newValue = float(listSt[3]);
190        if (Float.isNaN(newValue))  {
191          newValue = acData[3][0];
192        }
193        acData[3][0] = newValue;
194        masterAverage = masterAverage+newValue;
195        newValueFiltered = constrain(map(filterA3.addSample(newValue),  a3lowZ, a3highZ, 0.01, 1.0), 0.001, 2.0);
196        if (Float.isNaN(newValueFiltered))  {
197          newValueFiltered = acData[3][1];
198        }
199        acData[3][1]  = newValueFiltered;
200
201        //////////////////////
202        // Accelerometer  4 - Z
203        newValue = float(listSt[4]);
204        if (Float.isNaN(newValue))  {
205          newValue = acData[4][0];
206        }
207        acData[4][0] = newValue;
208        masterAverage = masterAverage+newValue;
209        newValueFiltered = constrain(map(filterA4.addSample(newValue),  a4lowZ, a4highZ, 0.01, 1.0), 0.001, 2.0);
210        if (Float.isNaN(newValueFiltered))  {
211          newValueFiltered = acData[4][1];
212        }
213        acData[4][1]  = newValueFiltered;
214
215        //////////////////////
216        // Accelerometer  C - X
217        newValue = float(listSt[5]);
218        if (Float.isNaN(newValue))  {
219          newValue = acData[5][0];
220        }
221        acData[5][0] = newValue;
222        newValueFiltered = constrain(map(filterA5X.addSample(newValue), a5lowX,  a5highX, 0.01, 1.0), 0.001, 2.0);
223        if (Float.isNaN(newValueFiltered))  {
224          newValueFiltered = acData[5][1];
225        }
226        acData[5][1]  = newValueFiltered;
227
228        //////////////////////
229        // Accelerometer  C - Y
230        newValue = float(listSt[6]);
231        if (Float.isNaN(newValue))  {
232          newValue =acData[6][0];
233        }
234        acData[6][0] = newValue;
235        newValueFiltered = constrain(map(filterA5Y.addSample(newValue), a5lowY,  a5highY, 0.01, 1.0), 0.001, 2.0);
236        if (Float.isNaN(newValueFiltered))  {
237          newValueFiltered = acData[6][1];
238        }
239        acData[6][1]  = newValueFiltered;
240
241        //////////////////////
242        // Master average  calc
243        newValue = masterAverage/4;
244        if (Float.isNaN(newValue))  {
245          newValue = acData[0][0];
246        }
247        acData[0][0] = newValue;
248        newValueFiltered = constrain(map(filterMaster.addSample(newValue), (a4lowZ+a3lowZ+a2lowZ+a1lowZ)*0.25,  (a4highZ+a3highZ+a2highZ+a1highZ)*0.25, 0.01, 1.0), 0.001, 2.0);
249        if (Float.isNaN(newValueFiltered))  {
250          newValueFiltered = acData[0][1];
251        }
252        acData[0][1]  = newValueFiltered;
253        setDifferences();
254      }
255    }
256  }
257  catch(Exception e) {
258    println(e);
259  }
260}
261
262// Set differences
263void  setDifferences() {
264  for (int i=0;i<acData.length;i++) {
265    acData[i][2]  =  acData[i][1]-acDataOld[i];
266    if (i==0) {
267      acData[i][3] = filterDif0.addSample(acData[i][2]);
268    }
269    if (i==1) {
270      acData[i][3] = filterDif1.addSample(acData[i][2]);
271    }
272    if (i==2) {
273      acData[i][3] = filterDif2.addSample(acData[i][2]);
274    }
275    if (i==3) {
276      acData[i][3] = filterDif3.addSample(acData[i][2]);
277    }
278    if (i==4) {
279      acData[i][3] = filterDif4.addSample(acData[i][2]);
280    }
281    if (i==5) {
282      acData[i][3] = filterDif5.addSample(acData[i][2]);
283    }
284    if (i==6) {
285      acData[i][3] = filterDif6.addSample(acData[i][2]);
286    }
287    if (Float.isNaN(acData[i][3])) {
288      acData[i][3] = acDataOld[i];
289    }
290    if (acData[i][3]<0.0001) {
291      acData[i][3]=0;
292    }
293    if  (acData[i][2]<0.0001) {
294      acData[i][2]=0;
295    }
296    acDataOld[i] =  acData[i][1];
297  }
298}
299
300//////////////////////////////////////////////////////////////////////////////////////////////
301//  Graphical visualization of the interface data.
302// -------------------------------------------------------------------------------------------
303//////////////////////////////////////////////////////////////////////////////////////////////
304
305//  Config
306int interfaceDimensionX = 128;
307int interfaceDimensionY = 134;
308
309//  Mapping variables
310PFont titleFont, contentFont, copyrightFont;
311float goPoint[][]  = new float[5][3];
312float baseX, baseY;
313
314void setupFonts() {
315  titleFont  = loadFont("ArialNarrow-23.vlw");
316  contentFont = loadFont("Courier-15.vlw");
317  copyrightFont = loadFont("Courier-9.vlw");
318}
319
320void visualizeData()  {
321  // Bg  
322  fill(35, 41, 44);
323  rect(-2, -2, 380, height+4);
324  
325  // Base position of text
326  baseX = 60;
327  baseY = 214;
328
329  // Title
330  textFont(titleFont);
331  fill(230, 230, 212);
332  text("Nama Instrument v1.0",  baseX-6, baseY-60); 
333  textFont(contentFont);
334  fill(230, 230, 212);
335  text("",  baseX-6, baseY-28);
336  textFont(copyrightFont);
337  text("ACC:       RAW  FILTER  DIF  DIF+FILTER", baseX-6, baseY);
338  
339  // 1
340  baseY = baseY+34;
341  textFont(titleFont);
342  fill(215, 102, 124);
343  text("A1z: ", baseX-6, baseY);  
344  fill(230, 230, 212);
345  textFont(contentFont);
346  text(int(acData[1][0]),  baseX+48, baseY-3);
347  text("", baseX+79, baseY-3);
348  text(acData[1][1],  baseX+84, baseY-3);
349  text("", baseX+142, baseY-3);
350  text(acData[1][2],  baseX+147, baseY-3);
351  text("", baseX+205, baseY-3);
352  text(acData[1][3],  baseX+210, baseY-3);
353
354  // 2
355  baseY = baseY+34;
356  textFont(titleFont);
357  fill(215, 181, 102);
358  text("A2z: ", baseX-6, baseY); 
359  fill(230, 230,  212);
360  textFont(contentFont);
361  text(int(acData[2][0]), baseX+48, baseY-3);
362  text("", baseX+79, baseY-3);
363  text(acData[2][1], baseX+84, baseY-3);
364  text("", baseX+142, baseY-3);
365  text(acData[2][2], baseX+147, baseY-3);
366  text("", baseX+205, baseY-3);
367  text(acData[2][3], baseX+210, baseY-3);
368
369  // 3
370  baseY = baseY+34;
371  textFont(titleFont);
372  fill(102, 215, 161);
373  text("A3z: ", baseX-6, baseY); 
374  fill(230, 230, 212);
375  textFont(contentFont);
376  text(int(acData[3][0]), baseX+48, baseY-3);
377  text("", baseX+79, baseY-3);
378  text(acData[3][1], baseX+84, baseY-3);
379  text("", baseX+142, baseY-3);
380  text(acData[3][2], baseX+147, baseY-3);
381  text("", baseX+205, baseY-3);
382  text(acData[3][3], baseX+210, baseY-3);
383
384  // 4
385  baseY = baseY+34;
386  textFont(titleFont);
387  fill(102, 130, 215);
388  text("A4z: ", baseX-6, baseY);  
389  fill(230, 230, 212);
390  textFont(contentFont);
391  text(int(acData[4][0]),  baseX+48, baseY-3);
392  text("", baseX+79, baseY-3);
393  text(acData[4][1],  baseX+84, baseY-3);
394  text("", baseX+142, baseY-3);
395  text(acData[4][2],  baseX+147, baseY-3);
396  text("", baseX+205, baseY-3);
397  text(acData[4][3],  baseX+210, baseY-3);
398
399  // 5x
400  baseY = baseY+34;
401  textFont(titleFont);
402  fill(139, 137, 127);
403  text("A5x: ", baseX-6, baseY); 
404  fill(230, 230,  212);
405  textFont(contentFont);
406  text(int(acData[5][0]), baseX+48, baseY-3);
407  text("", baseX+79, baseY-3);
408  text(acData[5][1], baseX+84, baseY-3);
409  text("", baseX+142, baseY-3);
410  text(acData[5][2], baseX+147, baseY-3);
411  text("", baseX+205, baseY-3);
412  text(acData[5][3], baseX+210, baseY-3);
413
414  // 5y
415  baseY = baseY+34;
416  textFont(titleFont);
417  fill(139, 137, 127);
418  text("A5y: ", baseX-6, baseY); 
419  fill(230, 230, 212);
420  textFont(contentFont);
421  text(int(acData[6][0]), baseX+48, baseY-3);
422  text("", baseX+79, baseY-3);
423  text(acData[6][1], baseX+84, baseY-3);
424  text("", baseX+142, baseY-3);
425  text(acData[6][2], baseX+147, baseY-3);
426  text("", baseX+205, baseY-3);
427  text(acData[6][3], baseX+210, baseY-3);
428
429  // separador
430  baseY = baseY+34;
431  textFont(contentFont);
432  fill(230, 230, 212);
433  text("", baseX-6, baseY-3);
434
435  // Average
436  baseY = baseY+34;
437  textFont(titleFont);
438  fill(230, 230,  212);
439  text("AVz: ", baseX-6, baseY); 
440  fill(230, 230, 212);
441  textFont(contentFont);
442  text(int(acData[0][0]), baseX+48, baseY-3);
443  text("", baseX+79, baseY-3);
444  text(acData[0][1], baseX+84, baseY-3);
445  text("", baseX+142, baseY-3);
446  text(acData[0][2], baseX+147, baseY-3);
447  text("", baseX+205, baseY-3);
448  text(acData[0][3], baseX+210, baseY-3);
449  
450  // Credits
451  textFont(copyrightFont);
452  fill(35, 41, 44);
453  text("created by luiz gustavo zanotello at jun/2012",  width-233, height-30);
454  text("http://www.viraseres.com/nama", width-154, height-20);
455  text("under CC BY-NC-SA 3.0", width-114, height-10);
456
457  ////////////////////////////////////////////////////////////////////////////////////////////
458  // Graph
459  noStroke();
460  fill(255);
461  baseX = width-width/3+map(acData[5][1],  0, 1, -1, 1)*100;
462  baseY = height/2+map(acData[6][1], 0, 1, -1, 1)*100+map(acData[0][1],  0, 1, -1, 1)*50;
463  translate(baseX, baseY, map(acData[0][1], 0, 1, 50, -100));
464  perspective();
465  rotateX(radians(acData[5][1]*360));
466  rotateY(radians(acData[6][1]*360));
467  rotateZ(radians(acData[0][1]*360));
468  directionalLight(120, 120, 120, 0, -1,  -1);
469  ambientLight(230, 230, 230);
470
471  // 4
472  fill(142-(acData[2][3]*255*100),  170-(acData[2][3]*255*100), 255-(acData[2][3]*255*100), 90+(acData[4][3]*255*100));
473  goPoint[4][0] = 0-interfaceDimensionX+map(acData[4][1], 0, 1, -100, 100);
474  goPoint[4][1] = interfaceDimensionY/2+map(acData[4][1], 0, 1, -100, 100);
475  goPoint[4][2] = map(acData[4][1], 0, 1, -400, 400);
476  pushMatrix();
477  translate(goPoint[4][0],  goPoint[4][1], goPoint[4][2]);
478  sphere(6);
479  popMatrix();
480
481  // 3
482  fill(142-(acData[1][3]*255*100), 255-(acData[1][3]*255*100), 201-(acData[1][3]*255*100),  90+(acData[4][3]*255*100));
483  goPoint[3][0] = 0-interfaceDimensionX+map(acData[3][1],  0, 1, -100, 100);
484  goPoint[3][1] = 0-interfaceDimensionY/2+map(acData[3][1],  0, 1, -100, 100);
485  goPoint[3][2] = map(acData[3][1], 0, 1, -400, 400);
486  pushMatrix();
487  translate(goPoint[3][0], goPoint[3][1], goPoint[3][2]);
488  sphere(6);
489  popMatrix();
490
491  // 2
492  fill(255-(acData[3][3]*255*100), 221-(acData[3][3]*255*100), 142-(acData[3][3]*255*100),  90+(acData[4][3]*255*100));
493  goPoint[2][0] = interfaceDimensionX+map(acData[2][1],  0, 1, -100, 100);
494  goPoint[2][1] = 0-interfaceDimensionY/2+map(acData[2][1],  0, 1, -100, 100);
495  goPoint[2][2] = map(acData[2][1], 0, 1, -400, 400);
496  pushMatrix();
497  translate(goPoint[2][0], goPoint[2][1], goPoint[2][2]);
498  sphere(6);
499  popMatrix();
500
501  // 1
502  fill(255-(acData[4][3]*255*100), 142-(acData[4][3]*255*100), 164-(acData[4][3]*255*100),  90+(acData[4][3]*255*100));
503  goPoint[1][0] = interfaceDimensionX+map(acData[1][1],  0, 1, -100, 100);
504  goPoint[1][1] = interfaceDimensionY/2+map(acData[1][1], 0,  1, -100, 100);
505  goPoint[1][2] = map(acData[1][1], 0, 1, -400, 400);
506  pushMatrix();
507  translate(goPoint[1][0], goPoint[1][1], goPoint[1][2]);
508  sphere(6);
509  popMatrix();
510
511  // C
512  fill(179-(acData[5][3]*255*100)-(acData[6][3]*255*100), 177-(acData[5][3]*255*100)-(acData[6][3]*255*100),  167-(acData[5][3]*255*100)-(acData[6][3]*255*100), 90+(acData[5][3]*255*100)+(acData[6][3]*255*100));
513  goPoint[0][0] = map(acData[5][1], 0, 1, -400, 400);
514  goPoint[0][1] = map(acData[6][1],  0, 1, -400, 400);
515  goPoint[0][2] = map(acData[0][1], 0, 1, -100, 100);
516  pushMatrix();
517  translate(goPoint[0][0], goPoint[0][1], goPoint[0][2]);
518  sphere(6);
519  popMatrix();
520
521  // Lines
522  stroke(255);
523  line(goPoint[0][0], goPoint[0][1], goPoint[0][2],  goPoint[1][0], goPoint[1][1], goPoint[1][2]);
524  line(goPoint[0][0], goPoint[0][1],  goPoint[0][2], goPoint[2][0], goPoint[2][1], goPoint[2][2]);
525  line(goPoint[0][0],  goPoint[0][1], goPoint[0][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
526  line(goPoint[0][0], goPoint[0][1], goPoint[0][2], goPoint[4][0], goPoint[4][1],  goPoint[4][2]);
527  line(goPoint[1][0], goPoint[1][1], goPoint[1][2], goPoint[2][0],  goPoint[2][1], goPoint[2][2]);
528  line(goPoint[1][0], goPoint[1][1], goPoint[1][2],  goPoint[3][0], goPoint[3][1], goPoint[3][2]);
529  line(goPoint[1][0], goPoint[1][1],  goPoint[1][2], goPoint[4][0], goPoint[4][1], goPoint[4][2]);
530  line(goPoint[2][0],  goPoint[2][1], goPoint[2][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
531  line(goPoint[2][0], goPoint[2][1], goPoint[2][2], goPoint[4][0], goPoint[4][1],  goPoint[4][2]);
532  line(goPoint[3][0], goPoint[3][1], goPoint[3][2], goPoint[4][0],  goPoint[4][1], goPoint[4][2]);
533}

//////////////////////////////////////////////////////////////////////////////////////////////
//  Nama Project v1.0
// Instrument data receiver.
// -------------------------------------------------------------------------------------------
//  All codes created by Luiz Zanotello on May/2012.
// Under Creative Commons License:  CC BY-NC-SA 3.0.
// More information at: http://www.viraseres.com/nama
//////////////////////////////////////////////////////////////////////////////////////////////

//  General configuration
int baudRate = 115200; //Baud rate 
int serialPort =  0; //Serial port
boolean isPrinting = true; //Print to post?

// Libraries
import  processing.serial.*;
import processing.opengl.*;

//////////////////////////////////////////////////////////////////////////////////////////////

void  setup() {
  size(1200, 600, OPENGL);
  beginSerial();
  setupFonts();
  smooth();
}

void draw() {
  background(230, 230, 212);
  visualizeData();
  if (isPrinting==true) {
    printValues();
  }
}

void printValues()  {
  println("AC NAME / RAW / FILTERED / DIFFERENCE / FILTERED DIFFERENCE");
  println("A1(z): "+acData[1][0]+" / "+acData[1][1]+" / "+acData[1][2]+"  / "+acData[1][3]);
  println("A2(z): "+acData[2][0]+" / "+acData[2][1]+"  / "+acData[2][2]+" / "+acData[2][3]);
  println("A3(z): "+acData[3][0]+"  / "+acData[3][1]+" / "+acData[3][2]+" / "+acData[3][3]);
  println("A4(z):  "+acData[4][0]+" / "+acData[4][1]+" / "+acData[4][2]+" / "+acData[4][3]);
  println("A5(x): "+acData[5][0]+" / "+acData[5][1]+" / "+acData[5][2]+"  / "+acData[5][3]);
  println("A5(y): "+acData[6][0]+" / "+acData[6][1]+"  / "+acData[6][2]+" / "+acData[6][3]);
  println("AV(z): "+acData[0][0]+"  / "+acData[0][1]+" / "+acData[0][2]+" / "+acData[0][3]);
  println();
}

//////////////////////////////////////////////////////////////////////////////////////////////
//  Kalman Filter Class.
// Created by Interactive Matter.
// (http://github.com/interactive-matter/Processing/tree/master/lis302dl_kalman)
//  -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

public  class KalmanFilter {
  private float q;
  private float r;
  private float  x;
  private float p;
  private float k;
  public KalmanFilter(float q,  float r, float p, float initial_value) {
    this.q=q;
    this.r=r;
    this.p=p;
    this.x=initial_value;
  }
  public float addSample(float measurement)  {
    //omit x=x
    p=p+q;
    k=p/(p+r);
    x= x + k*(measurement-x);
    p=(1-k)*p;
    return x;
  }
  public String toString() {
    return  "KalmanFilter with p="+p+", k="+k;
  }
  public float getQ() {
    return  q;
  }
  public float getR() {
    return r;
  }
  public float getP()  {
    return p;
  }
  public float getK() {
    return k;
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
//  Serial communication and configuration to the Lilypad accelerometer soft circuit.
//  -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

//  Use the following variables to calibrate the readings from the accelerometers.
//  Change the "low" and "high" values of each accelerometer
// according to  the average lowest and highest values received.

int a1lowZ = 307;
int  a1highZ = 759;
int a2lowZ = 294;
int a2highZ = 727;
int a3lowZ = 281;
int  a3highZ = 711;
int a4lowZ = 286;
int a4highZ = 717;
int a5lowX = 303;
int  a5highX = 769;
int a5lowY = 298;
int a5highY = 747;

//////////////////////////////////////////////////////////////////////////////////////////////

//  Mapping variables
Serial myPort;
float acData[][] = new float[7][4]; // [raw,  filt, dif, dif filt] [average z, 1, 2, 3, 4, 5x, 5y, 5z]
float acDataOld[] =  new float[7]; // used for calculating the differences
float newValue, newValueFiltered,  masterAverage, newDif, rawDif; //mapping

// Kalman filter instances
//  q(process noise), r(sensor noise), p(estimated error), initial_value

KalmanFilter  filterDif0 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif1 = new  KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif2 = new KalmanFilter(0.1,  16, 0.1, 1);
KalmanFilter filterDif3 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter  filterDif4 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif5 = new  KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter filterDif6 = new KalmanFilter(0.1,  16, 0.1, 1);
KalmanFilter filterDif7 = new KalmanFilter(0.1, 16, 0.1, 1);
KalmanFilter  filterA1 = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA2 = new  KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA3 = new KalmanFilter(0.5,  256, 100, 510);
KalmanFilter filterA4 = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter  filterA5X = new KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterA5Y = new  KalmanFilter(0.5, 256, 100, 510);
KalmanFilter filterMaster = new KalmanFilter(0.5,  256, 100, 510);

//////////////////////////////////////////////////////////////////////////////////////////////

//  Serial Event
void beginSerial() {
  myPort = new Serial(this, Serial.list()[serialPort],  baudRate);
  myPort.bufferUntil(10);
}

// Map Data
void serialEvent(Serial  p) {
  String inString;
  try {
    inString = (myPort.readString());
    if (inString != null) {
      String[] listSt = split(inString, ',');     
      if (listSt.length == 7) {
        masterAverage = 0;

        //////////////////////
        // Accelerometer 1 - Z
        newValue = float(listSt[1]);
        if  (Float.isNaN(newValue)) {
          newValue = acData[1][0];
        }
        acData[1][0] = newValue;
        masterAverage = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA1.addSample(newValue), a1lowZ, a1highZ,  0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered)) {
          newValueFiltered  = acData[1][1];
        }
        acData[1][1] = newValueFiltered;

        //////////////////////
        // Accelerometer 2 - Z
        newValue  = float(listSt[2]);
        if (Float.isNaN(newValue)) {
          newValue  = acData[2][0];
        }
        acData[2][0] = newValue;
        masterAverage  = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA2.addSample(newValue),  a2lowZ, a2highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[2][1];
        }
        acData[2][1]  = newValueFiltered;

        //////////////////////
        // Accelerometer  3 - Z
        newValue = float(listSt[3]);
        if (Float.isNaN(newValue))  {
          newValue = acData[3][0];
        }
        acData[3][0] = newValue;
        masterAverage = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA3.addSample(newValue),  a3lowZ, a3highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[3][1];
        }
        acData[3][1]  = newValueFiltered;

        //////////////////////
        // Accelerometer  4 - Z
        newValue = float(listSt[4]);
        if (Float.isNaN(newValue))  {
          newValue = acData[4][0];
        }
        acData[4][0] = newValue;
        masterAverage = masterAverage+newValue;
        newValueFiltered = constrain(map(filterA4.addSample(newValue),  a4lowZ, a4highZ, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[4][1];
        }
        acData[4][1]  = newValueFiltered;

        //////////////////////
        // Accelerometer  C - X
        newValue = float(listSt[5]);
        if (Float.isNaN(newValue))  {
          newValue = acData[5][0];
        }
        acData[5][0] = newValue;
        newValueFiltered = constrain(map(filterA5X.addSample(newValue), a5lowX,  a5highX, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[5][1];
        }
        acData[5][1]  = newValueFiltered;

        //////////////////////
        // Accelerometer  C - Y
        newValue = float(listSt[6]);
        if (Float.isNaN(newValue))  {
          newValue =acData[6][0];
        }
        acData[6][0] = newValue;
        newValueFiltered = constrain(map(filterA5Y.addSample(newValue), a5lowY,  a5highY, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[6][1];
        }
        acData[6][1]  = newValueFiltered;

        //////////////////////
        // Master average  calc
        newValue = masterAverage/4;
        if (Float.isNaN(newValue))  {
          newValue = acData[0][0];
        }
        acData[0][0] = newValue;
        newValueFiltered = constrain(map(filterMaster.addSample(newValue), (a4lowZ+a3lowZ+a2lowZ+a1lowZ)*0.25,  (a4highZ+a3highZ+a2highZ+a1highZ)*0.25, 0.01, 1.0), 0.001, 2.0);
        if (Float.isNaN(newValueFiltered))  {
          newValueFiltered = acData[0][1];
        }
        acData[0][1]  = newValueFiltered;
        setDifferences();
      }
    }
  }
  catch(Exception e) {
    println(e);
  }
}

// Set differences
void  setDifferences() {
  for (int i=0;i<acData.length;i++) {
    acData[i][2]  =  acData[i][1]-acDataOld[i];
    if (i==0) {
      acData[i][3] = filterDif0.addSample(acData[i][2]);
    }
    if (i==1) {
      acData[i][3] = filterDif1.addSample(acData[i][2]);
    }
    if (i==2) {
      acData[i][3] = filterDif2.addSample(acData[i][2]);
    }
    if (i==3) {
      acData[i][3] = filterDif3.addSample(acData[i][2]);
    }
    if (i==4) {
      acData[i][3] = filterDif4.addSample(acData[i][2]);
    }
    if (i==5) {
      acData[i][3] = filterDif5.addSample(acData[i][2]);
    }
    if (i==6) {
      acData[i][3] = filterDif6.addSample(acData[i][2]);
    }
    if (Float.isNaN(acData[i][3])) {
      acData[i][3] = acDataOld[i];
    }
    if (acData[i][3]<0.0001) {
      acData[i][3]=0;
    }
    if  (acData[i][2]<0.0001) {
      acData[i][2]=0;
    }
    acDataOld[i] =  acData[i][1];
  }
}

//////////////////////////////////////////////////////////////////////////////////////////////
//  Graphical visualization of the interface data.
// -------------------------------------------------------------------------------------------
//////////////////////////////////////////////////////////////////////////////////////////////

//  Config
int interfaceDimensionX = 128;
int interfaceDimensionY = 134;

//  Mapping variables
PFont titleFont, contentFont, copyrightFont;
float goPoint[][]  = new float[5][3];
float baseX, baseY;

void setupFonts() {
  titleFont  = loadFont("ArialNarrow-23.vlw");
  contentFont = loadFont("Courier-15.vlw");
  copyrightFont = loadFont("Courier-9.vlw");
}

void visualizeData()  {
  // Bg  
  fill(35, 41, 44);
  rect(-2, -2, 380, height+4);
  
  // Base position of text
  baseX = 60;
  baseY = 214;

  // Title
  textFont(titleFont);
  fill(230, 230, 212);
  text("Nama Instrument v1.0",  baseX-6, baseY-60); 
  textFont(contentFont);
  fill(230, 230, 212);
  text("",  baseX-6, baseY-28);
  textFont(copyrightFont);
  text("ACC:       RAW  FILTER  DIF  DIF+FILTER", baseX-6, baseY);
  
  // 1
  baseY = baseY+34;
  textFont(titleFont);
  fill(215, 102, 124);
  text("A1z: ", baseX-6, baseY);  
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[1][0]),  baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[1][1],  baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[1][2],  baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[1][3],  baseX+210, baseY-3);

  // 2
  baseY = baseY+34;
  textFont(titleFont);
  fill(215, 181, 102);
  text("A2z: ", baseX-6, baseY); 
  fill(230, 230,  212);
  textFont(contentFont);
  text(int(acData[2][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[2][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[2][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[2][3], baseX+210, baseY-3);

  // 3
  baseY = baseY+34;
  textFont(titleFont);
  fill(102, 215, 161);
  text("A3z: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[3][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[3][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[3][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[3][3], baseX+210, baseY-3);

  // 4
  baseY = baseY+34;
  textFont(titleFont);
  fill(102, 130, 215);
  text("A4z: ", baseX-6, baseY);  
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[4][0]),  baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[4][1],  baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[4][2],  baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[4][3],  baseX+210, baseY-3);

  // 5x
  baseY = baseY+34;
  textFont(titleFont);
  fill(139, 137, 127);
  text("A5x: ", baseX-6, baseY); 
  fill(230, 230,  212);
  textFont(contentFont);
  text(int(acData[5][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[5][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[5][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[5][3], baseX+210, baseY-3);

  // 5y
  baseY = baseY+34;
  textFont(titleFont);
  fill(139, 137, 127);
  text("A5y: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[6][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[6][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[6][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[6][3], baseX+210, baseY-3);

  // separador
  baseY = baseY+34;
  textFont(contentFont);
  fill(230, 230, 212);
  text("", baseX-6, baseY-3);

  // Average
  baseY = baseY+34;
  textFont(titleFont);
  fill(230, 230,  212);
  text("AVz: ", baseX-6, baseY); 
  fill(230, 230, 212);
  textFont(contentFont);
  text(int(acData[0][0]), baseX+48, baseY-3);
  text("", baseX+79, baseY-3);
  text(acData[0][1], baseX+84, baseY-3);
  text("", baseX+142, baseY-3);
  text(acData[0][2], baseX+147, baseY-3);
  text("", baseX+205, baseY-3);
  text(acData[0][3], baseX+210, baseY-3);
  
  // Credits
  textFont(copyrightFont);
  fill(35, 41, 44);
  text("created by luiz gustavo zanotello at jun/2012",  width-233, height-30);
  text("http://www.viraseres.com/nama", width-154, height-20);
  text("under CC BY-NC-SA 3.0", width-114, height-10);

  ////////////////////////////////////////////////////////////////////////////////////////////
  // Graph
  noStroke();
  fill(255);
  baseX = width-width/3+map(acData[5][1],  0, 1, -1, 1)*100;
  baseY = height/2+map(acData[6][1], 0, 1, -1, 1)*100+map(acData[0][1],  0, 1, -1, 1)*50;
  translate(baseX, baseY, map(acData[0][1], 0, 1, 50, -100));
  perspective();
  rotateX(radians(acData[5][1]*360));
  rotateY(radians(acData[6][1]*360));
  rotateZ(radians(acData[0][1]*360));
  directionalLight(120, 120, 120, 0, -1,  -1);
  ambientLight(230, 230, 230);

  // 4
  fill(142-(acData[2][3]*255*100),  170-(acData[2][3]*255*100), 255-(acData[2][3]*255*100), 90+(acData[4][3]*255*100));
  goPoint[4][0] = 0-interfaceDimensionX+map(acData[4][1], 0, 1, -100, 100);
  goPoint[4][1] = interfaceDimensionY/2+map(acData[4][1], 0, 1, -100, 100);
  goPoint[4][2] = map(acData[4][1], 0, 1, -400, 400);
  pushMatrix();
  translate(goPoint[4][0],  goPoint[4][1], goPoint[4][2]);
  sphere(6);
  popMatrix();

  // 3
  fill(142-(acData[1][3]*255*100), 255-(acData[1][3]*255*100), 201-(acData[1][3]*255*100),  90+(acData[4][3]*255*100));
  goPoint[3][0] = 0-interfaceDimensionX+map(acData[3][1],  0, 1, -100, 100);
  goPoint[3][1] = 0-interfaceDimensionY/2+map(acData[3][1],  0, 1, -100, 100);
  goPoint[3][2] = map(acData[3][1], 0, 1, -400, 400);
  pushMatrix();
  translate(goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  sphere(6);
  popMatrix();

  // 2
  fill(255-(acData[3][3]*255*100), 221-(acData[3][3]*255*100), 142-(acData[3][3]*255*100),  90+(acData[4][3]*255*100));
  goPoint[2][0] = interfaceDimensionX+map(acData[2][1],  0, 1, -100, 100);
  goPoint[2][1] = 0-interfaceDimensionY/2+map(acData[2][1],  0, 1, -100, 100);
  goPoint[2][2] = map(acData[2][1], 0, 1, -400, 400);
  pushMatrix();
  translate(goPoint[2][0], goPoint[2][1], goPoint[2][2]);
  sphere(6);
  popMatrix();

  // 1
  fill(255-(acData[4][3]*255*100), 142-(acData[4][3]*255*100), 164-(acData[4][3]*255*100),  90+(acData[4][3]*255*100));
  goPoint[1][0] = interfaceDimensionX+map(acData[1][1],  0, 1, -100, 100);
  goPoint[1][1] = interfaceDimensionY/2+map(acData[1][1], 0,  1, -100, 100);
  goPoint[1][2] = map(acData[1][1], 0, 1, -400, 400);
  pushMatrix();
  translate(goPoint[1][0], goPoint[1][1], goPoint[1][2]);
  sphere(6);
  popMatrix();

  // C
  fill(179-(acData[5][3]*255*100)-(acData[6][3]*255*100), 177-(acData[5][3]*255*100)-(acData[6][3]*255*100),  167-(acData[5][3]*255*100)-(acData[6][3]*255*100), 90+(acData[5][3]*255*100)+(acData[6][3]*255*100));
  goPoint[0][0] = map(acData[5][1], 0, 1, -400, 400);
  goPoint[0][1] = map(acData[6][1],  0, 1, -400, 400);
  goPoint[0][2] = map(acData[0][1], 0, 1, -100, 100);
  pushMatrix();
  translate(goPoint[0][0], goPoint[0][1], goPoint[0][2]);
  sphere(6);
  popMatrix();

  // Lines
  stroke(255);
  line(goPoint[0][0], goPoint[0][1], goPoint[0][2],  goPoint[1][0], goPoint[1][1], goPoint[1][2]);
  line(goPoint[0][0], goPoint[0][1],  goPoint[0][2], goPoint[2][0], goPoint[2][1], goPoint[2][2]);
  line(goPoint[0][0],  goPoint[0][1], goPoint[0][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  line(goPoint[0][0], goPoint[0][1], goPoint[0][2], goPoint[4][0], goPoint[4][1],  goPoint[4][2]);
  line(goPoint[1][0], goPoint[1][1], goPoint[1][2], goPoint[2][0],  goPoint[2][1], goPoint[2][2]);
  line(goPoint[1][0], goPoint[1][1], goPoint[1][2],  goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  line(goPoint[1][0], goPoint[1][1],  goPoint[1][2], goPoint[4][0], goPoint[4][1], goPoint[4][2]);
  line(goPoint[2][0],  goPoint[2][1], goPoint[2][2], goPoint[3][0], goPoint[3][1], goPoint[3][2]);
  line(goPoint[2][0], goPoint[2][1], goPoint[2][2], goPoint[4][0], goPoint[4][1],  goPoint[4][2]);
  line(goPoint[3][0], goPoint[3][1], goPoint[3][2], goPoint[4][0],  goPoint[4][1], goPoint[4][2]);
}

Arduino Code

arduino

1///////////////////////////////////////////////////////////////
2//
3  Nama Project v1.0
4// Instrument Arduino code.
5// ------------------------------------------------------------
6//
7  Created by Luiz Zanotello on May/2012.
8// Under Creative Commons License: CC
9  BY-NC-SA 3.0.
10// More information at: http://www.viraseres.com/nama
11///////////////////////////////////////////////////////////////
12
13//Accelerometer
14  1 (z) - bottom right
15////////////////////////////////////
16const int a1pinV
17  = 6; //output current pin
18const int a1pinZ = A0; //data pin
19
20//Accelerometer
21  2 (z) - top right
22/////////////////////////////////
23const int a2pinV = 7;
24  //output current pi
25const int a2pinZ = A1; //data pin
26
27//Central accelerometer
28  (x/y)
29/////////////////////////////
30const int aCpinV = 8; //output current
31  pi
32const int aCpinX = A2; //data pin
33const int aCpinY = A3; //data pin
34//Accelerometer
35  3 (z) - top left
36////////////////////////////////
37const int a3pinV = 2; //output
38  current pi
39const int a3pinZ = A4; //data pin
40
41//Accelerometer 4 (z) - bottom
42  left
43///////////////////////////////////
44const int a4pinV = 3; //output current
45  pi
46const int a4pinZ = A5; //data pin
47
48////////////////////////////////////////////////////////
49
50void
51  setup()
52{
53  //Begin serial transmition:
54  Serial.begin(115200);
55  //Set
56  output pins (+ current):
57  pinMode(a1pinV, OUTPUT);
58  digitalWrite(a1pinV,
59  HIGH);
60  pinMode(a2pinV, OUTPUT); 
61  digitalWrite(a2pinV, HIGH);
62  pinMode(aCpinV,
63  OUTPUT); 
64  digitalWrite(aCpinV, HIGH);
65  pinMode(a3pinV, OUTPUT); 
66  digitalWrite(a3pinV,
67  HIGH);
68  pinMode(a4pinV, OUTPUT); 
69  digitalWrite(a4pinV, HIGH);
70}
71
72////////////////////////////////////////////////////////
73
74void
75  loop()
76{ 
77  // Printing analog data received from accelerometers
78  Serial.println();
79
80  Serial.print(5); // Number of accelerometers
81  Serial.print(',');
82  Serial.print(analogRead(a1pinZ));
83  // Accelerometer 1 reading (z)
84  Serial.print(',');
85  Serial.print(analogRead(a2pinZ));
86  // Accelerometer 2 reading (z)
87  Serial.print(',');
88  Serial.print(analogRead(a3pinZ));
89  // Accelerometer 3 reading (z)
90  Serial.print(',');
91  Serial.print(analogRead(a4pinZ));
92  // Accelerometer 4 reading (z)
93  Serial.print(',');
94  Serial.print(analogRead(aCpinX));
95  // Central accelerometer reading (x)
96  Serial.print(',');
97  Serial.print(analogRead(aCpinY));
98  // Central accelerometer reading (y)
99  Serial.print(tranG);
100  delay(10);
101}
102
103////////////////////////////////////////////////////////
104

///////////////////////////////////////////////////////////////
//
  Nama Project v1.0
// Instrument Arduino code.
// ------------------------------------------------------------
//
  Created by Luiz Zanotello on May/2012.
// Under Creative Commons License: CC
  BY-NC-SA 3.0.
// More information at: http://www.viraseres.com/nama
///////////////////////////////////////////////////////////////

//Accelerometer
  1 (z) - bottom right
////////////////////////////////////
const int a1pinV
  = 6; //output current pin
const int a1pinZ = A0; //data pin

//Accelerometer
  2 (z) - top right
/////////////////////////////////
const int a2pinV = 7;
  //output current pi
const int a2pinZ = A1; //data pin

//Central accelerometer
  (x/y)
/////////////////////////////
const int aCpinV = 8; //output current
  pi
const int aCpinX = A2; //data pin
const int aCpinY = A3; //data pin
//Accelerometer
  3 (z) - top left
////////////////////////////////
const int a3pinV = 2; //output
  current pi
const int a3pinZ = A4; //data pin

//Accelerometer 4 (z) - bottom
  left
///////////////////////////////////
const int a4pinV = 3; //output current
  pi
const int a4pinZ = A5; //data pin

////////////////////////////////////////////////////////

void
  setup()
{
  //Begin serial transmition:
  Serial.begin(115200);
  //Set
  output pins (+ current):
  pinMode(a1pinV, OUTPUT);
  digitalWrite(a1pinV,
  HIGH);
  pinMode(a2pinV, OUTPUT); 
  digitalWrite(a2pinV, HIGH);
  pinMode(aCpinV,
  OUTPUT); 
  digitalWrite(aCpinV, HIGH);
  pinMode(a3pinV, OUTPUT); 
  digitalWrite(a3pinV,
  HIGH);
  pinMode(a4pinV, OUTPUT); 
  digitalWrite(a4pinV, HIGH);
}

////////////////////////////////////////////////////////

void
  loop()
{ 
  // Printing analog data received from accelerometers
  Serial.println();

  Serial.print(5); // Number of accelerometers
  Serial.print(',');
  Serial.print(analogRead(a1pinZ));
  // Accelerometer 1 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a2pinZ));
  // Accelerometer 2 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a3pinZ));
  // Accelerometer 3 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a4pinZ));
  // Accelerometer 4 reading (z)
  Serial.print(',');
  Serial.print(analogRead(aCpinX));
  // Central accelerometer reading (x)
  Serial.print(',');
  Serial.print(analogRead(aCpinY));
  // Central accelerometer reading (y)
  Serial.print(tranG);
  delay(10);
}

////////////////////////////////////////////////////////

Arduino Code

arduino

1///////////////////////////////////////////////////////////////
2//  Nama Project v1.0
3// Instrument Arduino code.
4// ------------------------------------------------------------
5//  Created by Luiz Zanotello on May/2012.
6// Under Creative Commons License: CC  BY-NC-SA 3.0.
7// More information at: http://www.viraseres.com/nama
8///////////////////////////////////////////////////////////////
9
10//Accelerometer  1 (z) - bottom right
11////////////////////////////////////
12const int a1pinV  = 6; //output current pin
13const int a1pinZ = A0; //data pin
14
15//Accelerometer  2 (z) - top right
16/////////////////////////////////
17const int a2pinV = 7;  //output current pi
18const int a2pinZ = A1; //data pin
19
20//Central accelerometer  (x/y)
21/////////////////////////////
22const int aCpinV = 8; //output current  pi
23const int aCpinX = A2; //data pin
24const int aCpinY = A3; //data pin
25//Accelerometer  3 (z) - top left
26////////////////////////////////
27const int a3pinV = 2; //output  current pi
28const int a3pinZ = A4; //data pin
29
30//Accelerometer 4 (z) - bottom  left
31///////////////////////////////////
32const int a4pinV = 3; //output current  pi
33const int a4pinZ = A5; //data pin
34
35////////////////////////////////////////////////////////
36
37void  setup()
38{
39  //Begin serial transmition:
40  Serial.begin(115200);
41  //Set  output pins (+ current):
42  pinMode(a1pinV, OUTPUT);
43  digitalWrite(a1pinV,  HIGH);
44  pinMode(a2pinV, OUTPUT); 
45  digitalWrite(a2pinV, HIGH);
46  pinMode(aCpinV,  OUTPUT); 
47  digitalWrite(aCpinV, HIGH);
48  pinMode(a3pinV, OUTPUT); 
49  digitalWrite(a3pinV,  HIGH);
50  pinMode(a4pinV, OUTPUT); 
51  digitalWrite(a4pinV, HIGH);
52}
53
54////////////////////////////////////////////////////////
55
56void  loop()
57{ 
58  // Printing analog data received from accelerometers
59  Serial.println();
60  Serial.print(5); // Number of accelerometers
61  Serial.print(',');
62  Serial.print(analogRead(a1pinZ));  // Accelerometer 1 reading (z)
63  Serial.print(',');
64  Serial.print(analogRead(a2pinZ));  // Accelerometer 2 reading (z)
65  Serial.print(',');
66  Serial.print(analogRead(a3pinZ));  // Accelerometer 3 reading (z)
67  Serial.print(',');
68  Serial.print(analogRead(a4pinZ));  // Accelerometer 4 reading (z)
69  Serial.print(',');
70  Serial.print(analogRead(aCpinX));  // Central accelerometer reading (x)
71  Serial.print(',');
72  Serial.print(analogRead(aCpinY));  // Central accelerometer reading (y)
73  Serial.print(tranG);
74  delay(10);
75}
76
77////////////////////////////////////////////////////////
78

///////////////////////////////////////////////////////////////
//  Nama Project v1.0
// Instrument Arduino code.
// ------------------------------------------------------------
//  Created by Luiz Zanotello on May/2012.
// Under Creative Commons License: CC  BY-NC-SA 3.0.
// More information at: http://www.viraseres.com/nama
///////////////////////////////////////////////////////////////

//Accelerometer  1 (z) - bottom right
////////////////////////////////////
const int a1pinV  = 6; //output current pin
const int a1pinZ = A0; //data pin

//Accelerometer  2 (z) - top right
/////////////////////////////////
const int a2pinV = 7;  //output current pi
const int a2pinZ = A1; //data pin

//Central accelerometer  (x/y)
/////////////////////////////
const int aCpinV = 8; //output current  pi
const int aCpinX = A2; //data pin
const int aCpinY = A3; //data pin
//Accelerometer  3 (z) - top left
////////////////////////////////
const int a3pinV = 2; //output  current pi
const int a3pinZ = A4; //data pin

//Accelerometer 4 (z) - bottom  left
///////////////////////////////////
const int a4pinV = 3; //output current  pi
const int a4pinZ = A5; //data pin

////////////////////////////////////////////////////////

void  setup()
{
  //Begin serial transmition:
  Serial.begin(115200);
  //Set  output pins (+ current):
  pinMode(a1pinV, OUTPUT);
  digitalWrite(a1pinV,  HIGH);
  pinMode(a2pinV, OUTPUT); 
  digitalWrite(a2pinV, HIGH);
  pinMode(aCpinV,  OUTPUT); 
  digitalWrite(aCpinV, HIGH);
  pinMode(a3pinV, OUTPUT); 
  digitalWrite(a3pinV,  HIGH);
  pinMode(a4pinV, OUTPUT); 
  digitalWrite(a4pinV, HIGH);
}

////////////////////////////////////////////////////////

void  loop()
{ 
  // Printing analog data received from accelerometers
  Serial.println();
  Serial.print(5); // Number of accelerometers
  Serial.print(',');
  Serial.print(analogRead(a1pinZ));  // Accelerometer 1 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a2pinZ));  // Accelerometer 2 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a3pinZ));  // Accelerometer 3 reading (z)
  Serial.print(',');
  Serial.print(analogRead(a4pinZ));  // Accelerometer 4 reading (z)
  Serial.print(',');
  Serial.print(analogRead(aCpinX));  // Central accelerometer reading (x)
  Serial.print(',');
  Serial.print(analogRead(aCpinY));  // Central accelerometer reading (y)
  Serial.print(tranG);
  delay(10);
}

////////////////////////////////////////////////////////

Downloadable files

Fritzing Schematic

Design

How to sew the components

Design

How to sew the components

Design

Materials and components

Fritzing Schematic

Comments

Only logged in users can leave comments

lgguts

0 Followers

•

0 Projects

Intro