diff options
Diffstat (limited to 'src/components')
| -rw-r--r-- | src/components/motion/MotionController.cpp | 3 | ||||
| -rw-r--r-- | src/components/motion/MotionController.h | 1 |
2 files changed, 3 insertions, 1 deletions
diff --git a/src/components/motion/MotionController.cpp b/src/components/motion/MotionController.cpp index 9d16e00d..ef3cf811 100644 --- a/src/components/motion/MotionController.cpp +++ b/src/components/motion/MotionController.cpp @@ -16,6 +16,7 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) lastTime = time; time = xTaskGetTickCount(); + lastX = this->x; this->x = x; lastY = this->y; this->y = y; @@ -53,7 +54,7 @@ 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 + (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); // implemented without floats as .25Alpha accumulatedSpeed = (speed / 5) + ((accumulatedSpeed / 5) * 4); diff --git a/src/components/motion/MotionController.h b/src/components/motion/MotionController.h index 87dbcd1f..c524fef3 100644 --- a/src/components/motion/MotionController.h +++ b/src/components/motion/MotionController.h @@ -67,6 +67,7 @@ namespace Pinetime { TickType_t lastTime = 0; TickType_t time = 0; + int16_t lastX = 0; int16_t x = 0; int16_t lastYForRaiseWake = 0; int16_t lastY = 0; |