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shakewake: Slightly improve accuracy

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The accumulated speed was calculated by dividing first and multiplying
after, which results in more rounding errors than if you multiply first
and then divide. The values aren't big enough to overflow.
This commit is contained in:
Finlay Davidson 2023-04-05 10:32:27 +02:00 committed by JF
parent 6d5847e046
commit 47ca403857
1 changed files with 3 additions and 4 deletions
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7
src/components/motion/MotionController.cpp
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@ -54,10 +54,9 @@ 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 / 2) - (lastY / 2) + (x / 4) - (lastX / 4)) / (time - lastTime) * 100;
//(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// implemented without floats as .25Alpha
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
int32_t speed = std::abs(z - lastZ + (y - lastY) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
return accumulatedSpeed > thresh;
}