Author: Isaac <114504394+ic-27@users.noreply.github.com>
ShakeWake: Fixed instant wake after sleep issue in certain positions (#1691) * ShakeWake: Fixed instant wake after sleep issue in certain positions Add lastX var to track the previous x acceleration for correct calculation of speed. Reorder axes for clarity. --------- Co-authored-by: Isaac <114504394+isaacc27@users.noreply.github.com> Co-authored-by: FintasticMan <52415484+FintasticMan@users.noreply.github.com>
src/components/motion/MotionController.cpp | 3 ++- src/components/motion/MotionController.h | 1 +
diff --git a/src/components/motion/MotionController.cpp b/src/components/motion/MotionController.cpp index 9d16e00d2e4adf7eea606801b2588b544746c22e..ef3cf811889e95aafa6f5bd4f1e344301cdf2803 100644 --- a/src/components/motion/MotionController.cpp +++ b/src/components/motion/MotionController.cpp @@ -16,6 +16,7 @@ lastTime = time; time = xTaskGetTickCount(); + lastX = this->x; this->x = x; lastY = this->y; this->y = y; @@ -53,7 +54,7 @@ } 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 87dbcd1f03722d1fe1a4858d1edd46478d8e758d..c524fef33fd4757f8316a0fa0887734802295ded 100644 --- a/src/components/motion/MotionController.h +++ b/src/components/motion/MotionController.h @@ -67,6 +67,7 @@ TickType_t lastTime = 0; TickType_t time = 0; + int16_t lastX = 0; int16_t x = 0; int16_t lastYForRaiseWake = 0; int16_t lastY = 0;