WalkerDirUp

Modifies walker direction to look up according to accelerometer output

Syntax: WalkerDirUp(w,all_dirs=1,threshold=50,past=0)

w walker to be modified
all_dirs if set to 1, walker direction will be updated all around, if set to 0, only turns to left and right will be allowed
threshold gives minimum threshold for gravity, which is usually applied to the top side
past how far back in accelerometer data to use

Returns: This function returns a value that represents what happens to the walker.

0 no turn and acc data below threshold
1 no turn but acc over threshold
2 turn according to all dirs

Notes: This function works with accelerometer data, so it is possible to add a threshold that must be overcome to perform the turn. This is useful if the change of direction is happening on the top side, where the biggest acceleration is masked.

Example:

WalkerDirUp(w), update walker w
WalkerDirUp(w,0,100), update walker w only to turn right, left with threshold 100