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Merge pull request #1982 from VernierST/extensions/gdx-for-freefall-and-tilt
GDX-FOR better freefall algorithm and different tilt options
This commit is contained in:
Eric Rosenbaum
GitHub
commit
9dd8e9398a
1 changed files with 93 additions and 74 deletions
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@ -68,6 +68,12 @@ const FACING_THRESHOLD = 9;
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*/
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const FREEFALL_THRESHOLD = 0.5;
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/**
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* Factor used to account for influence of rotation during freefall.
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* @type {number}
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*/
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const FREEFALL_ROTATION_FACTOR = 0.3;
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/**
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* Acceleration due to gravity, in m/s^2.
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* @type {number}
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@ -269,29 +275,15 @@ class GdxFor {
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return this._sensors.force;
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}
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getTiltX () {
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let x = this.getAccelerationX();
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let y = this.getAccelerationY();
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let z = this.getAccelerationZ();
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let xSign = 1;
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let ySign = 1;
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let zSign = 1;
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if (x < 0.0) {
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x *= -1.0; xSign = -1;
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}
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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getTiltFrontBack (back = false) {
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const x = this.getAccelerationX();
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const y = this.getAccelerationY();
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const z = this.getAccelerationZ();
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// Compute the yz unit vector
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const y2 = y * y;
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const z2 = z * z;
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const x2 = x * x;
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let value = z2 + x2;
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let value = y2 + z2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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@ -299,46 +291,28 @@ class GdxFor {
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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value = (x < 0) ? 90 : -90;
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} else {
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// Compute the x-axis angle
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value = y / value;
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value = x / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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value = MathUtil.radToDeg(value) * -1;
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}
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// Manage the sign of the result
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let xzSign = xSign;
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if (z > x) xzSign = zSign;
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if (xzSign === -1) value = 180.0 - value;
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value *= ySign;
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// Round the result to the nearest degree
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value += 0.5;
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// Back is the inverse of front
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if (back) value *= -1;
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return value;
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}
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getTiltY () {
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let x = this.getAccelerationX();
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let y = this.getAccelerationY();
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let z = this.getAccelerationZ();
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let xSign = 1;
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let ySign = 1;
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let zSign = 1;
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if (x < 0.0) {
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x *= -1.0; xSign = -1;
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}
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if (y < 0.0) {
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y *= -1.0; ySign = -1;
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}
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if (z < 0.0) {
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z *= -1.0; zSign = -1;
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}
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getTiltLeftRight (right = false) {
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const x = this.getAccelerationX();
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const y = this.getAccelerationY();
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const z = this.getAccelerationZ();
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// Compute the yz unit vector
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const x2 = x * x;
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const z2 = z * z;
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const y2 = y * y;
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let value = z2 + y2;
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let value = x2 + z2;
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value = Math.sqrt(value);
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// For sufficiently small zy vector values we are essentially at 90 degrees.
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@ -346,20 +320,16 @@ class GdxFor {
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// The snap factor was derived through observation -- just enough to
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// still allow single degree steps up to 90 (..., 87, 88, 89, 90).
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if (value < 0.35) {
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value = 90;
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value = (y < 0) ? 90 : -90;
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} else {
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// Compute the x-axis angle
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value = x / value;
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value = y / value;
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value = Math.atan(value);
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value *= 57.2957795; // convert from rad to deg
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value = MathUtil.radToDeg(value) * -1;
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}
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// Manage the sign of the result
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let yzSign = ySign;
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if (z > y) yzSign = zSign;
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if (yzSign === -1) value = 180.0 - value;
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value *= xSign;
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// Round the result to the nearest degree
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value += 0.5;
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// Right is the inverse of left
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if (right) value *= -1;
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return value;
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}
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@ -415,8 +385,10 @@ const GestureValues = {
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* @enum {string}
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*/
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const TiltAxisValues = {
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X: 'x',
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Y: 'y'
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FRONT: 'front',
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BACK: 'back',
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LEFT: 'left',
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RIGHT: 'right'
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};
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/**
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@ -479,12 +451,36 @@ class Scratch3GdxForBlocks {
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get TILT_MENU () {
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return [
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{
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text: 'x',
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value: TiltAxisValues.X
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text: formatMessage({
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id: 'gdxfor.tiltDirectionMenu.front',
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default: 'front',
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description: 'label for front element in tilt direction picker for gdxfor extension'
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}),
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value: TiltAxisValues.FRONT
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},
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{
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text: 'y',
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value: TiltAxisValues.Y
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text: formatMessage({
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id: 'gdxfor.tiltDirectionMenu.back',
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default: 'back',
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description: 'label for back element in tilt direction picker for gdxfor extension'
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}),
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value: TiltAxisValues.BACK
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},
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{
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text: formatMessage({
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id: 'gdxfor.tiltDirectionMenu.left',
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default: 'left',
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description: 'label for left element in tilt direction picker for gdxfor extension'
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}),
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value: TiltAxisValues.LEFT
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},
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{
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text: formatMessage({
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id: 'gdxfor.tiltDirectionMenu.right',
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default: 'right',
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description: 'label for right element in tilt direction picker for gdxfor extension'
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}),
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value: TiltAxisValues.RIGHT
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}
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];
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}
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@ -639,7 +635,7 @@ class Scratch3GdxForBlocks {
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TILT: {
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type: ArgumentType.STRING,
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menu: 'tiltOptions',
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defaultValue: TiltAxisValues.X
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defaultValue: TiltAxisValues.FRONT
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}
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}
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},
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@ -745,10 +741,14 @@ class Scratch3GdxForBlocks {
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getTilt (args) {
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switch (args.TILT) {
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case TiltAxisValues.X:
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return Math.round(this._peripheral.getTiltX());
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case TiltAxisValues.Y:
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return Math.round(this._peripheral.getTiltY());
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case TiltAxisValues.FRONT:
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return Math.round(this._peripheral.getTiltFrontBack(false));
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case TiltAxisValues.BACK:
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return Math.round(this._peripheral.getTiltFrontBack(true));
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case TiltAxisValues.LEFT:
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return Math.round(this._peripheral.getTiltLeftRight(false));
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case TiltAxisValues.RIGHT:
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return Math.round(this._peripheral.getTiltLeftRight(true));
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default:
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log.warn(`Unknown direction in getTilt: ${args.TILT}`);
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}
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@ -802,6 +802,14 @@ class Scratch3GdxForBlocks {
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return this.accelMagnitude() - GRAVITY;
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}
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spinMagnitude () {
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return this.magnitude(
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this._peripheral.getSpinSpeedX(),
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this._peripheral.getSpinSpeedY(),
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this._peripheral.getSpinSpeedZ()
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);
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}
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isFacing (args) {
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switch (args.FACING) {
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case FaceValues.UP:
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@ -814,7 +822,18 @@ class Scratch3GdxForBlocks {
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}
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isFreeFalling () {
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return this.accelMagnitude() < FREEFALL_THRESHOLD;
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const accelMag = this.accelMagnitude();
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const spinMag = this.spinMagnitude();
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// We want to account for rotation during freefall,
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// so we tack on a an estimated "rotational effect"
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// The FREEFALL_ROTATION_FACTOR const is used to both scale the
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// gyro measurements and convert them to radians/second.
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// So, we compare our accel magnitude against:
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// FREEFALL_THRESHOLD + (some_scaled_magnitude_of_rotation).
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const ffThresh = FREEFALL_THRESHOLD + (FREEFALL_ROTATION_FACTOR * spinMag);
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return accelMag < ffThresh;
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}
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}
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