Hardware Prototyping Speed Test: Phidgets vs Arduino

blink.ino

void setup() {
  
  Serial.begin(9600);
  
  pinMode(7,OUTPUT);
}

void loop() {
  
  digitalWrite(7,HIGH);
  delay(500);
  digitalWrite(7,LOW);
  delay(500);
}

Blink.java

package com.ken.phidgets.challenge;

import com.ken.phidgets.PhidgetsUtil;
import com.phidgets.InterfaceKitPhidget;

public class Blink {

	public static void main(String[] args) throws Exception{
		InterfaceKitPhidget ik=PhidgetsUtil.getAnyInterfaceKit();
		
		while(true){
			ik.setOutputState(0, true);
			Thread.sleep(500);
			ik.setOutputState(0, false);
			Thread.sleep(500);
		}
	}
}

pedometer.ino

//low pass filter
float queue[100];
int window=100;
float total=0;
int currentIdx=0;

void setup() {
 Serial.begin(9600); 
 
 for(int i=0;i<window;i++)
   queue[i]=0;
   
   for(int i=2;i<=9;i++)
     pinMode(i,OUTPUT);
}

float magThresh=0.3;
bool isAbove=false;

int stepCount=0;

void loop() {

  double x=(analogRead(3)-512)/200.;
  double y=(analogRead(4)-512)/200.;
  double z=(analogRead(5)-512)/200.;
  
  float mag=sqrt(x*x+y*y+z*z);
  
  //high pass filter
  {
    total-=queue[currentIdx];
    queue[currentIdx]=mag;
    total+=mag;
    currentIdx++;
    if(currentIdx==window)
      currentIdx=0;
     
     mag-= total/(float)window;
  }
  
  //zero crossing
  if(isAbove){
    if(mag<-magThresh){
       isAbove=false;
       
       stepCount++;
       
       int outIdx=map(stepCount,0,50,2,9);
       for(int j=2;j<=9;j++)
         digitalWrite(j, j<outIdx?HIGH:LOW);
       
       Serial.println(mag);
    }
  }else{
    if(mag>magThresh){
      isAbove=true;
    }
  }
  
//  Serial.print(x);
//  Serial.print(" ");
//  Serial.print(y);
//  Serial.print(" ");
//  Serial.print(z);
//  Serial.println(" ");
}

Pedometer.java

package com.ken.phidgets.challenge;

import java.io.IOException;

import com.ken.phidgets.PhidgetsUtil;
import com.ken.phidgets.SpatialEventDataListener;
import com.phidgets.InterfaceKitPhidget;
import com.phidgets.PhidgetException;
import com.phidgets.SpatialEventData;
import com.phidgets.SpatialPhidget;

import common.gui.graph.ScatterPlot;
import common.util.MathUtil;
import common.util.WindowedAverager;

public class Pedometer {

	public static void main(String[] args) throws IOException {
		final InterfaceKitPhidget ik=PhidgetsUtil.getAnyInterfaceKit();

		for(int i=0;i<8;i++){
			try {
				ik.setOutputState(i, false);
			} catch (PhidgetException e) {
				// TODO Auto-generated catch block
				e.printStackTrace();
			}
		}
		
		SpatialPhidget spatial=PhidgetsUtil.getAnySpatial();
		spatial.addSpatialDataListener(new SpatialEventDataListener() {
			
			ScatterPlot plot=ScatterPlot.getPlotFrame();
			{
				plot.setShowLine(true);
			}
			
			WindowedAverager avger=new WindowedAverager(100);
			
			double magThresh=0.3;
			boolean isAbove=false;
			int stepCount=0;
			
			@Override
			public void eventData(SpatialEventData data) {
				double x=data.getAcceleration()[0];
				double y=data.getAcceleration()[1];
				double z=data.getAcceleration()[2];
				
				double mag=Math.sqrt(x*x+y*y+z*z);
				
				//calc low pass
				avger.add(mag);
				
				//high pass
				mag-=avger.mean();
				
				if(isAbove){
					if(mag<-magThresh){
						isAbove=false;
						
						stepCount++;

						int outIdx=(int)MathUtil.map(stepCount, 0, 50,0,8);
						
						for(int i=0;i<8;i++)
							try {
								ik.setOutputState(i, i<outIdx);
							} catch (PhidgetException e) {
								// TODO Auto-generated catch block
								e.printStackTrace();
							}
						
						System.out.println("step: "+stepCount);
					}
				}else{
					if(mag>magThresh){
						isAbove=true;
					}
				}
				plot.add(System.currentTimeMillis(),mag);
			}
		});
		System.in.read();
	}
}

servo.ino

#include <Servo.h>

Servo mServo;
void setup() {
  Serial.begin(9600);
  
  mServo.attach(9);
}

void loop() {
  
  int val=analogRead(0);
  val=map(val,0,1024,0,180);
  
  Serial.print("write ");
  Serial.println(val);
  
  mServo.write(val);
  delay(30);
}

ServoTest.java

package com.ken.phidgets.challenge;

import java.io.IOException;

import com.ken.phidgets.PhidgetsUtil;
import com.phidgets.AdvancedServoPhidget;
import com.phidgets.InterfaceKitPhidget;
import com.phidgets.PhidgetException;
import com.phidgets.event.SensorChangeEvent;
import com.phidgets.event.SensorChangeListener;

import common.util.MathUtil;

public class ServoTest {

	public static void main(String[] args) throws IOException {
		InterfaceKitPhidget ik=PhidgetsUtil.getAnyInterfaceKit();
		final AdvancedServoPhidget servo=PhidgetsUtil.getAnyAdvancedServo();
		
		ik.addSensorChangeListener(new SensorChangeListener() {
			
			@Override
			public void sensorChanged(SensorChangeEvent event) {
				if(event.getIndex()==0){
					double angle=MathUtil.map(event.getValue(), 0, 1000,0,180);
					System.out.println(event.getValue()+" "+angle);
					try {
						servo.setPosition(0, angle);
					} catch (PhidgetException e) {
						e.printStackTrace();
					}
				}
			}
		});
		System.in.read();
	}
}