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motioncontroller: Fix changes in InfiniTime#1659

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This commit is contained in:
Finlay Davidson
2023-03-05 20:51:34 +01:00
parent 32fada34f4
commit 2f37837c77
3 changed files with 61 additions and 53 deletions
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55
sim/components/motion/MotionController.cpp
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@@ -1,5 +1,7 @@
#include "components/motion/MotionController.h"
//#include "os/os_cputime.h"
//#include <task.h>
using namespace Pinetime::Controllers;
void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
@@ -10,66 +12,56 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
// if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
// service->OnNewMotionValues(x, y, z);
// }
//
// lastTime = time;
// time = xTaskGetTickCount();
this->x = x;
lastY = this->y;
this->y = y;
lastZ = this->z;
this->z = z;
int32_t deltaSteps = nbSteps - this->nbSteps;
this->nbSteps = nbSteps;
if (deltaSteps > 0) {
currentTripSteps += deltaSteps;
}
this->nbSteps = nbSteps;
}
bool MotionController::Should_RaiseWake(bool isSleeping) {
bool MotionController::ShouldRaiseWake(bool isSleeping) {
if ((x + 335) <= 670 && z < 0) {
if (not isSleeping) {
if (!isSleeping) {
if (y <= 0) {
return false;
} else {
lastYForWakeUp = 0;
return false;
}
lastYForRaiseWake = 0;
return false;
}
if (y >= 0) {
lastYForWakeUp = 0;
lastYForRaiseWake = 0;
return false;
}
if (y + 230 < lastYForWakeUp) {
lastYForWakeUp = y;
if (y + 230 < lastYForRaiseWake) {
lastYForRaiseWake = y;
return true;
}
}
return false;
}
bool MotionController::Should_ShakeWake(uint16_t thresh) {
bool MotionController::ShouldShakeWake(uint16_t thresh) {
return false;
// bool wake = false;
// auto diff = xTaskGetTickCount() - lastShakeTime;
// lastShakeTime = xTaskGetTickCount();
// /* 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) - lastYForShake - lastZForShake) / diff * 100;
// //(.2 * speed) + ((1 - .2) * accumulatedspeed);
// int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / (time - lastTime) * 100;
// //(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// // implemented without floats as .25Alpha
// accumulatedspeed = (speed / 5) + ((accumulatedspeed / 5) * 4);
// accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
//
// if (accumulatedspeed > thresh) {
// wake = true;
// }
// lastXForShake = x / 4;
// lastYForShake = y / 2;
// lastZForShake = z;
// return wake;
}
int32_t MotionController::currentShakeSpeed() {
return accumulatedspeed;
// return accumulatedSpeed > thresh;
}
void MotionController::IsSensorOk(bool isOk) {
isSensorOk = isOk;
}
void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
switch (types) {
case Drivers::Bma421::DeviceTypes::BMA421:
@@ -83,6 +75,3 @@ void MotionController::Init(Pinetime::Drivers::Bma421::DeviceTypes types) {
break;
}
}
//void MotionController::SetService(Pinetime::Controllers::MotionService* service) {
// this->service = service;
//}