imu: make it part of InputState

python_payload/apps/demo_imu/__init__.py

+# flow3r imports
+from st3m import InputState
+from st3m.application import Application
+from ctx import Context
+from st3m.utils import tau
+
+
+class IMUDemo(Application):
+    def __init__(self, name: str) -> None:
+        super().__init__(name)
+        self.v_x = 0.0
+        self.v_y = 0.0
+        self.p_x = 0.0
+        self.p_y = 0.0
+
+    def draw(self, ctx: Context) -> 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()
+
+    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
+
+        x = self.p_x + self.v_x * delta_ms / 1000.0
+        y = self.p_y + self.v_y * delta_ms / 1000.0
+
+        if x**2 + y**2 < (120 - 10) ** 2:
+            self.p_x = x
+            self.p_y = y
+        else:
+            self.v_x = 0
+            self.v_y = 0

python_payload/apps/demo_imu/flow3r.toml

+[app]
+name = "IMU Demo"
+menu = "Apps"
+
+[entry]
+class = "IMUDemo"
+
+[metadata]
+author = "Flow3r Badge Authors"
+license = "LGPL-3.0-only"
+url = "https://git.flow3r.garden/flow3r/flow3r-firmware"

python_payload/st3m/input.py

@@ -3,8 +3,9 @@ from st3m.goose import List, Optional, Enum, Tuple
 import hardware
 import captouch
 import imu
+from st3m.power import Power
 
-import machine
+power = Power()
 
 
 class InputState:
@@ -20,11 +21,21 @@ class InputState:
         captouch: captouch.CaptouchState,
         left_button: int,
         right_button: int,
+        acc: Tuple[float, float, float],
+        gyro: Tuple[float, float, float],
+        pressure: float,
+        temperature: float,
+        battery_voltage: float,
     ) -> None:
         # self.petal_pads = petal_pads
         self.captouch = captouch
         self.left_button = left_button
         self.right_button = right_button
+        self.acc = acc
+        self.gyro = gyro
+        self.pressure = pressure
+        self.temperature = temperature
+        self.battery_voltage = battery_voltage
 
     @classmethod
     def gather(cls, swapped_buttons: bool = False) -> "InputState":
@@ -38,7 +49,20 @@ class InputState:
         if swapped_buttons:
             left_button, right_button = right_button, left_button
 
-        return InputState(cts, left_button, right_button)
+        acc = imu.acc_read()
+        gyro = imu.gyro_read()
+        pressure, temperature = imu.pressure_read()
+        battery_voltage = power.battery_voltage
+        return InputState(
+            cts,
+            left_button,
+            right_button,
+            acc,
+            gyro,
+            pressure,
+            temperature,
+            battery_voltage,
+        )
 
 
 class RepeatSettings:
@@ -475,24 +499,6 @@ class IMUState:
         self.pressure, self.temperature = imu.pressure_read()
 
 
-class PowerState:
-    __slots__ = ("_ts", "_adc_pin", "_adc", "battery_voltage")
-
-    def __init__(self) -> None:
-        self._adc_pin = machine.Pin(9, machine.Pin.IN)
-        self._adc = machine.ADC(self._adc_pin, atten=machine.ADC.ATTN_11DB)
-        self.battery_voltage = self._battery_voltage_sample()
-        self._ts = 0
-
-    def _battery_voltage_sample(self) -> float:
-        return self._adc.read_uv() * 2 / 1e6
-
-    def _update(self, ts: int, hr: InputState) -> None:
-        if ts >= self._ts + 1000:
-            self.battery_voltage = self._battery_voltage_sample()
-            self._ts = ts
-
-
 class InputController:
     """
     A stateful input controller. It accepts InputState updates from the Reactor
@@ -509,8 +515,6 @@ class InputController:
         "captouch",
         "left_shoulder",
         "right_shoulder",
-        "imu",
-        "power",
         "_ts",
     )
 
@@ -518,8 +522,6 @@ class InputController:
         self.captouch = CaptouchState()
         self.left_shoulder = TriSwitchState(TriSwitchHandedness.left)
         self.right_shoulder = TriSwitchState(TriSwitchHandedness.right)
-        self.imu = IMUState()
-        self.power = PowerState()
         self._ts = 0
 
     def think(self, hr: InputState, delta_ms: int) -> None:
@@ -527,8 +529,6 @@ class InputController:
         self.captouch._update(self._ts, hr)
         self.left_shoulder._update(self._ts, hr)
         self.right_shoulder._update(self._ts, hr)
-        self.imu._update(self._ts, hr)
-        self.power._update(self._ts, hr)
 
     def _ignore_pressed(self) -> None:
         """

python_payload/st3m/power.py

+import machine
+import time
+
+
+class Power:
+    """
+    Collects information about the power state (e.g. battery voltage) of the badge.
+
+    Member of st3m.input.InputState, should be acquired from there, not instantiated manually.
+    """
+
+    def __init__(self) -> None:
+        self._adc_pin = machine.Pin(9, machine.Pin.IN)
+        self._adc = machine.ADC(self._adc_pin, atten=machine.ADC.ATTN_11DB)
+        self._battery_voltage = self._battery_voltage_sample()
+        self._ts = time.ticks_ms()
+
+    def _battery_voltage_sample(self) -> float:
+        return self._adc.read_uv() * 2 / 1e6
+
+    def _update(self) -> None:
+        ts = time.ticks_ms()
+        if ts >= self._ts + 1000:
+            # Sampling takes time, don't do it too often
+            self._battery_voltage = self._battery_voltage_sample()
+            self._ts = ts
+
+    @property
+    def battery_voltage(self) -> float:
+        self._update()
+        return self._battery_voltage