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Non-linear gyro

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This commit is contained in:
Thomas Farstrike
2025-04-23 22:45:23 +02:00
parent fcb02be412
commit 54d7864f5f
1 changed files with 16 additions and 13 deletions
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apps/com.example.imu/assets/main.py
+16 -13
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@@ -34,9 +34,21 @@ slidergy.align(lv.ALIGN.CENTER, 0, 60)
slidergz = lv.slider(subwindow)
slidergz.align(lv.ALIGN.CENTER, 0, 90)
def map_nonlinear(value: float) -> int:
"""Convert a value from [-200, 200] to [0, 100] with non-linear stretching around 0."""
# Step 1: Normalize input from [-200, 200] to [-1, 1]
normalized = value / 200.0
# Step 2: Apply non-linear transformation (preserve sign)
sign = 1 if normalized >= 0 else -1
abs_normalized = abs(normalized)
# Use square root (or another power < 1) to stretch small values
non_linear = sign * (abs_normalized ** 0.5)
# Step 3: Scale and shift to [0, 100]
# Map [-1, 1] to [0, 100] (i.e., -1 -> 0, 0 -> 50, 1 -> 100)
return int((non_linear + 1) * 50.0)
canary = lv.obj(subwindow)
canary.add_flag(0x0001) # LV_OBJ_FLAG_HIDDEN is 0x0001
while canary.get_class():
#print(f"""{sensor.temperature=} {sensor.acceleration=} {sensor.gyro=}""")
templabel.set_text(f"Temperature: {sensor.temperature:.2f}")
@@ -50,17 +62,8 @@ while canary.get_class():
slidery.set_value(ayp, lv.ANIM.OFF)
sliderz.set_value(azp, lv.ANIM.OFF)
# values between -200 and 200 => /4 becomes -50 and 50 => +50 becomes 0 and 100
gx = sensor.gyro[0]
gxp = int(gx / 4 + 50)
gy = sensor.gyro[1]
gyp = int(gy / 4 + 50)
gz = sensor.gyro[2]
gzp = int(gz / 4 + 50)
#acclabelx.set_text(f"AXP: { axp}")
#acclabely.set_text(f"AY: {sensor.acceleration[1]}")
#acclabelz.set_text(f"AZ: {sensor.acceleration[2]}")
slidergx.set_value(gxp, lv.ANIM.OFF)
slidergy.set_value(gyp, lv.ANIM.OFF)
slidergz.set_value(gzp, lv.ANIM.OFF)
slidergx.set_value(map_nonlinear(sensor.gyro[0]), lv.ANIM.OFF)
slidergy.set_value(map_nonlinear(sensor.gyro[1]), lv.ANIM.OFF)
slidergz.set_value(map_nonlinear(sensor.gyro[2]), lv.ANIM.OFF)
time.sleep_ms(100)