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motioncontroller: Store acceleration history

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Store history of acceleration values for the y and z axes.
This commit is contained in:
Finlay Davidson
2023-06-25 15:55:24 +02:00
committed by JF
parent 47ca403857
commit 3085bb3990
2 changed files with 18 additions and 17 deletions
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23
src/components/motion/MotionController.cpp
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@@ -9,7 +9,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
service->OnNewStepCountValue(nbSteps);
}
if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
if (service != nullptr && (this->x != x || yHistory[0] != y || zHistory[0] != z)) {
service->OnNewMotionValues(x, y, z);
}
@@ -18,10 +18,10 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
lastX = this->x;
this->x = x;
lastY = this->y;
this->y = y;
lastZ = this->z;
this->z = z;
yHistory++;
yHistory[0] = y;
zHistory++;
zHistory[0] = z;
int32_t deltaSteps = nbSteps - this->nbSteps;
if (deltaSteps > 0) {
@@ -31,21 +31,21 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
}
bool MotionController::ShouldRaiseWake(bool isSleeping) {
if ((x + 335) <= 670 && z < 0) {
if ((x + 335) <= 670 && zHistory[0] < 0) {
if (!isSleeping) {
if (y <= 0) {
if (yHistory[0] <= 0) {
return false;
}
lastYForRaiseWake = 0;
return false;
}
if (y >= 0) {
if (yHistory[0] >= 0) {
lastYForRaiseWake = 0;
return false;
}
if (y + 230 < lastYForRaiseWake) {
lastYForRaiseWake = y;
if (yHistory[0] + 230 < lastYForRaiseWake) {
lastYForRaiseWake = yHistory[0];
return true;
}
}
@@ -54,7 +54,8 @@ bool MotionController::ShouldRaiseWake(bool isSleeping) {
bool MotionController::ShouldShakeWake(uint16_t thresh) {
/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
int32_t speed = std::abs(z - lastZ + (y - lastY) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
int32_t speed =
std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;