CCF_100/InfiniTime
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shakewake: Switch to more generic last* vars

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These could be used for other motion-based algorithms in the future.
Also fix includes.
This commit is contained in:
Finlay Davidson
2023-03-05 14:40:01 +01:00
committed by Riku Isokoski
parent f993311830
commit 6cf6455313
2 changed files with 17 additions and 12 deletions
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13
src/components/motion/MotionController.cpp
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@@ -1,5 +1,8 @@
#include "components/motion/MotionController.h"
#include "os/os_cputime.h"
#include <FreeRTOS.h>
#include <task.h>
using namespace Pinetime::Controllers;
void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
@@ -12,8 +15,11 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
}
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) {
@@ -48,7 +54,7 @@ bool MotionController::ShouldShakeWake(uint16_t thresh) {
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;
int32_t speed = std::abs(z + (y / 2) + (x / 4) - lastY / 2 - lastZ) / diff * 100;
//(.2 * speed) + ((1 - .2) * accumulatedSpeed);
// implemented without floats as .25Alpha
accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4);
@@ -56,9 +62,6 @@ bool MotionController::ShouldShakeWake(uint16_t thresh) {
if (accumulatedSpeed > thresh) {
wake = true;
}
lastXForShake = x / 4;
lastYForShake = y / 2;
lastZForShake = z;
return wake;
}