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ShakeWake: Fixed instant wake after sleep issue in certain positions (#1691)

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* ShakeWake: Fixed instant wake after sleep issue in certain positions

Add lastX var to track the previous x acceleration for correct calculation of speed.

Reorder axes for clarity.

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Co-authored-by: Isaac <114504394+isaacc27@users.noreply.github.com>
Co-authored-by: FintasticMan <52415484+FintasticMan@users.noreply.github.com>
This commit is contained in:
Isaac 2023-06-17 15:37:53 +00:00 committed by GitHub
parent f057894d26
commit 9e128c838e
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2 changed files with 3 additions and 1 deletions
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3
src/components/motion/MotionController.cpp
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@ -16,6 +16,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
lastTime = time; lastTime = time;
time = xTaskGetTickCount(); time = xTaskGetTickCount();
lastX = this->x;
this->x = x; this->x = x;
lastY = this->y; lastY = this->y;
this->y = y; this->y = y;
@ -53,7 +54,7 @@ bool MotionController::ShouldRaiseWake(bool isSleeping) {
bool MotionController::ShouldShakeWake(uint16_t thresh) { bool MotionController::ShouldShakeWake(uint16_t thresh) {
/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */ /* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / (time - lastTime) * 100; int32_t speed = std::abs(z - lastZ + (y / 2) - (lastY / 2) + (x / 4) - (lastX / 4)) / (time - lastTime) * 100;
//(.2 * speed) + ((1 - .2) * accumulatedSpeed); //(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// implemented without floats as .25Alpha // implemented without floats as .25Alpha
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4); accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);

1
src/components/motion/MotionController.h
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@ -67,6 +67,7 @@ namespace Pinetime {
TickType_t lastTime = 0; TickType_t lastTime = 0;
TickType_t time = 0; TickType_t time = 0;
int16_t lastX = 0;
int16_t x = 0; int16_t x = 0;
int16_t lastYForRaiseWake = 0; int16_t lastYForRaiseWake = 0;
int16_t lastY = 0; int16_t lastY = 0;