From bb041056c268527ea272b449ffbe8d4d87b5f5db Mon Sep 17 00:00:00 2001
From: schneider <schneider@blinkenlichts.net>
Date: Wed, 9 Aug 2023 00:13:47 +0200
Subject: [PATCH] imu: put imu state into an object
---
python_payload/apps/demo_imu/__init__.py | 4 +-
python_payload/st3m/input.py | 49 ++++++++++++------------
2 files changed, 27 insertions(+), 26 deletions(-)
diff --git a/python_payload/apps/demo_imu/__init__.py b/python_payload/apps/demo_imu/__init__.py
index c4b6929987..f157d723cf 100644
--- a/python_payload/apps/demo_imu/__init__.py
+++ b/python_payload/apps/demo_imu/__init__.py
@@ -25,8 +25,8 @@ class IMUDemo(Application):
def think(self, ins: InputState, delta_ms: int) -> None:
super().think(ins, delta_ms)
- self.v_y += ins.acc[0] * delta_ms / 1000.0 * 10
- self.v_x += ins.acc[1] * delta_ms / 1000.0 * 10
+ self.v_y += ins.imu.acc[0] * delta_ms / 1000.0 * 10
+ self.v_x += ins.imu.acc[1] * delta_ms / 1000.0 * 10
x = self.p_x + self.v_x * delta_ms / 1000.0
y = self.p_y + self.v_y * delta_ms / 1000.0
diff --git a/python_payload/st3m/input.py b/python_payload/st3m/input.py
index e29cd6ae18..ea420b9a0a 100644
--- a/python_payload/st3m/input.py
+++ b/python_payload/st3m/input.py
@@ -8,6 +8,26 @@ from st3m.power import Power
power = Power()
+class IMUState:
+ """
+ State of the Inertial Measurement Unit
+
+ Acceleration in m/s**2, roation rate in deg/s, pressure in Pascal
+ """
+
+ __slots__ = ("acc", "gyro", "pressure")
+
+ def __init__(
+ self,
+ acc: Tuple[float, float, float],
+ gyro: Tuple[float, float, float],
+ pressure: float,
+ ) -> None:
+ self.acc = acc
+ self.gyro = gyro
+ self.pressure = pressure
+
+
class InputState:
"""
Current state of inputs from badge user. Passed via think() to every
@@ -21,9 +41,7 @@ class InputState:
captouch: captouch.CaptouchState,
left_button: int,
right_button: int,
- acc: Tuple[float, float, float],
- gyro: Tuple[float, float, float],
- pressure: float,
+ imu: IMUState,
temperature: float,
battery_voltage: float,
) -> None:
@@ -31,9 +49,7 @@ class InputState:
self.captouch = captouch
self.left_button = left_button
self.right_button = right_button
- self.acc = acc
- self.gyro = gyro
- self.pressure = pressure
+ self.imu = imu
self.temperature = temperature
self.battery_voltage = battery_voltage
@@ -52,14 +68,14 @@ class InputState:
acc = imu.acc_read()
gyro = imu.gyro_read()
pressure, temperature = imu.pressure_read()
+ imu_state = IMUState(acc, gyro, pressure)
+
battery_voltage = power.battery_voltage
return InputState(
cts,
left_button,
right_button,
- acc,
- gyro,
- pressure,
+ imu_state,
temperature,
battery_voltage,
)
@@ -484,21 +500,6 @@ class TriSwitchState:
self.right._ignore_pressed()
-class IMUState:
- __slots__ = ("acc", "gyro", "pressure", "temperature")
-
- def __init__(self) -> None:
- self.acc = (0.0, 0.0, 0.0)
- self.gyro = (0.0, 0.0, 0.0)
- self.pressure = 0.0
- self.temperature = 0.0
-
- def _update(self, ts: int, hr: InputState) -> None:
- self.acc = imu.acc_read()
- self.gyro = imu.gyro_read()
- self.pressure, self.temperature = imu.pressure_read()
-
-
class InputController:
"""
A stateful input controller. It accepts InputState updates from the Reactor
--
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