imu: read all sensors at once at 100 Hz

In preparation to get it into st3m input state

assigned to @q3k

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nit: convert to a guard clause

you mean exit the task in that case?

No, by guard clauses I mean this form:

loop/function {
   if not condition {
      continue/break/return
   }

   do the thing
}

vs

loop/function {
   if condition {
      do the thing
   }
}

It reduces nesting (especially with multiple consecutive condition checks) and keeps checks/effects close to themselves.

http://wiki.c2.com/?GuardClause= and also http://wiki.c2.com/?HandleErrorsInContext

done

Demo:

class Ball(Responder):
    def __init__(self):
        self.ts = 0.0
        self.v_x = 0.0
        self.v_y = 0.0
        self.p_x = 0.0
        self.p_y = 0.0
        self.input = InputController()
        super().__init__()

    def think(self, ins: InputState, delta_ms: int) -> None:
        self.input.think(ins, delta_ms)
        self.ts += delta_ms / 1000

        self.v_y += self.input.imu.acc[0] * delta_ms / 1000. * 10
        self.v_x += self.input.imu.acc[1] * delta_ms / 1000. * 10

        x = self.p_x + self.v_x * delta_ms / 1000.
        y = self.p_y + self.v_y * delta_ms / 1000.

        if x**2 + y**2 < (120-5)**2:
            self.p_x = x
            self.p_y = y
        else:
            self.v_x = 0
            self.v_y = 0

        if self.input.left_shoulder.middle.pressed:
            print("exiting")

    def draw(self, ctx: Ctx) -> None:
        ctx.rectangle(-120, -120, 240, 240)
        ctx.rgb(0, 0, 0)
        ctx.fill()

        ctx.arc(self.p_x, self.p_y, 10, 0, tau, 0)
        ctx.rgb(117 / 255, 255 / 255, 226 / 255)
        ctx.fill()

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approved this merge request

merged