7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
35 lines
961 B
Python
35 lines
961 B
Python
class FirstOrderFilter:
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def __init__(self, x0, rc, dt, initialized=True):
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self.x = x0
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self.dt = dt
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self.update_alpha(rc)
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self.initialized = initialized
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def update_alpha(self, rc):
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self.alpha = self.dt / (rc + self.dt)
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def update(self, x):
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if self.initialized:
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self.x = (1. - self.alpha) * self.x + self.alpha * x
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else:
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self.initialized = True
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self.x = x
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return self.x
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class BounceFilter(FirstOrderFilter):
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def __init__(self, x0, rc, dt, initialized=True, bounce=2):
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self.velocity = FirstOrderFilter(0.0, 0.15, dt)
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self.bounce = bounce
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super().__init__(x0, rc, dt, initialized)
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def update(self, x):
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super().update(x)
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scale = self.dt / (1.0 / 60.0) # tuned at 60 fps
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self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
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self.velocity.update(0.0)
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if abs(self.velocity.x) < 1e-5:
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self.velocity.x = 0.0
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self.x += self.velocity.x
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return self.x
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