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@ -9,7 +9,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
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service->OnNewStepCountValue(nbSteps);
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}
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if (service != nullptr && (this->x != x || this->y != y || this->z != z)) {
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if (service != nullptr && (this->x != x || yHistory[0] != y || zHistory[0] != z)) {
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service->OnNewMotionValues(x, y, z);
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}
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@ -18,10 +18,10 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
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lastX = this->x;
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this->x = x;
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lastY = this->y;
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this->y = y;
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lastZ = this->z;
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this->z = z;
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yHistory++;
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yHistory[0] = y;
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zHistory++;
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zHistory[0] = z;
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int32_t deltaSteps = nbSteps - this->nbSteps;
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if (deltaSteps > 0) {
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@ -31,21 +31,21 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)
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}
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bool MotionController::ShouldRaiseWake(bool isSleeping) {
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if ((x + 335) <= 670 && z < 0) {
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if ((x + 335) <= 670 && zHistory[0] < 0) {
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if (!isSleeping) {
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if (y <= 0) {
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if (yHistory[0] <= 0) {
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return false;
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}
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lastYForRaiseWake = 0;
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return false;
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}
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if (y >= 0) {
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if (yHistory[0] >= 0) {
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lastYForRaiseWake = 0;
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return false;
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}
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if (y + 230 < lastYForRaiseWake) {
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lastYForRaiseWake = y;
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if (yHistory[0] + 230 < lastYForRaiseWake) {
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lastYForRaiseWake = yHistory[0];
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return true;
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}
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}
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@ -54,7 +54,8 @@ bool MotionController::ShouldRaiseWake(bool isSleeping) {
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bool MotionController::ShouldShakeWake(uint16_t thresh) {
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/* Currently Polling at 10hz, If this ever goes faster scalar and EMA might need adjusting */
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int32_t speed = std::abs(z - lastZ + (y - lastY) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
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int32_t speed =
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std::abs(zHistory[0] - zHistory[histSize - 1] + (yHistory[0] - yHistory[histSize - 1]) / 2 + (x - lastX) / 4) * 100 / (time - lastTime);
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// (.2 * speed) + ((1 - .2) * accumulatedSpeed);
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accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;
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