diff options
| -rw-r--r-- | src/components/motion/MotionController.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/components/motion/MotionController.cpp b/src/components/motion/MotionController.cpp index ef3cf811..3572195b 100644 --- a/src/components/motion/MotionController.cpp +++ b/src/components/motion/MotionController.cpp @@ -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; } |