damped filter

common/filter_simple.py

@@ -1,3 +1,6 @@
+import numpy as np
+
+
 class FirstOrderFilter:
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
@@ -15,3 +18,41 @@ class FirstOrderFilter:
       self.initialized = True
       self.x = x
     return self.x
+
+
+class BounceFilter(FirstOrderFilter):
+  def __init__(self, x0, rc, dt, initialized=True):
+    super().__init__(x0, rc, dt, initialized)
+    # self.velocity = FirstOrderFilter(0.0, rc * 1.5, dt)
+    self.velocity = FirstOrderFilter(0.0, 0.1, dt, initialized)
+
+  def update(self, x):
+    prev_x = self.x
+    # new_x = super().update(x)
+    self.velocity.update((x - prev_x) / 10)
+    # self.velocity.x *= 0.9
+    self.velocity.update(0.0)
+    # self.velocity.update(0.0)
+    self.x += self.velocity.x
+    print(self.velocity.x)
+    # self.x = np.interp(abs(vel), [0, 100], [prev_x, new_x])
+    # print(vel)
+    # new_x += vel
+    # return new_x
+    # new_x = super().update(x)
+    # slow the initial move with velocity
+    return self.x
+
+  #
+  # def update(self, x):
+  #   prev_x = self.x
+  #   new_x = super().update(x)
+  #   vel = self.velocity.update(x - prev_x)
+  #   print(vel)
+  #   self.x = np.interp(abs(vel), [0, 100], [prev_x, new_x])
+  #   # print(vel)
+  #   # new_x += vel
+  #   # return new_x
+  #   # new_x = super().update(x)
+  #   # slow the initial move with velocity
+  #   return self.x

system/ui/widgets/network.py

@@ -3,7 +3,7 @@ from functools import partial
 from typing import cast
 
 import pyray as rl
-from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
 from openpilot.system.ui.lib.application import gui_app, DEFAULT_FPS
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wifi_manager import WifiManager, SecurityType, Network, MeteredType
@@ -47,12 +47,16 @@ class NavButton(Widget):
     super().__init__()
     self.text = text
     self.set_rect(rl.Rectangle(0, 0, 400, 100))
-    self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
-    self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    # self._x_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    # self._y_pos_filter = FirstOrderFilter(0.0, 0.05, 1 / DEFAULT_FPS, initialized=False)
+    self._x_pos_filter = BounceFilter(0.0, 0.1, 1 / DEFAULT_FPS, initialized=False)
+    self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / DEFAULT_FPS, initialized=False)
+    # self._x_pos_filter = SecondOrderFilter(0.0, response=0.05, dt=1 / DEFAULT_FPS, initialized=False)
+    # self._y_pos_filter = SecondOrderFilter(0.0, response=0.28, dt=1 / DEFAULT_FPS, initialized=False)
 
   def set_position(self, x: float, y: float) -> None:
     x = self._x_pos_filter.update(x)
-    y = self._y_pos_filter.update(y)
+    y = y  # self._y_pos_filter.update(y)
     changed = (self._rect.x != x or self._rect.y != y)
     self._rect.x, self._rect.y = x, y
     if changed: