dualsense-ts 6.12.0 → 6.13.0

package/CHANGELOG.md

@@ -2,6 +2,16 @@
 
 All notable changes to `dualsense-ts` are documented here. This project uses [Semantic Versioning](https://semver.org/).
 
+## [6.13.0] - 2026-04-13
+
+### Added
+
+- **Orientation tracking**: `controller.orientation` provides fused 3D orientation (pitch, yaw, roll, quaternion) via a zero-dependency Madgwick AHRS filter, plus accelerometer-only `tiltPitch`/`tiltRoll` for drift-free gravity-reference applications. Filter gain (`beta`) is tunable at runtime
+- **Shake detection**: `controller.shake` detects shake intensity, frequency, and active state using per-axis Goertzel frequency analysis on first-difference signals. Reports both `frequency` (reversal rate) and `fundamental` (oscillation frequency), with a live `spectrum` of frequency bin powers. Configurable `threshold`, `windowSize`, `sustain`, `freqStep`, `freqMin`, and `freqMax` — all tunable at runtime
+- Axis remapping from DualSense Y-up to Madgwick Z-up convention for correct symmetric tilt behavior
+- Zero-gradient guard in the Madgwick filter to prevent NaN when gravity is already aligned
+- New `motion/` module: `Orientation`, `ShakeDetector`, `MadgwickFilter`, quaternion math — all zero-dependency
+
 ## [6.12.0] - 2026-04-14
 
 ### Added

package/README.md

@@ -2,7 +2,7 @@
 
 `dualsense-ts` is the natural interface for your DualSense controller. Simple to use, fully-typed, fully-featured, and supports wired and wireless connections in both node.js and the browser.
 
-Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Connect a controller and try every feature with live demos, or explore the [playground](https://nsfm.github.io/dualsense-ts/playground).
+Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Connect a controller (or a few!) and try every feature with live demos. Or, explore the [playground](https://nsfm.github.io/dualsense-ts/playground) to check all of your controller functionality in one place.
 
 ## Features
 
@@ -13,7 +13,7 @@ Check out the **[interactive docs](https://nsfm.github.io/dualsense-ts/)**! Conn
 - **Lighting control** covering [RGB light bars](https://nsfm.github.io/dualsense-ts/outputs/lightbar), [player LEDs](https://nsfm.github.io/dualsense-ts/outputs/player-leds), and [mute button](https://nsfm.github.io/dualsense-ts/outputs/mute-led)
 - **Full haptics control** over independent [left/right rumble](https://nsfm.github.io/dualsense-ts/outputs/rumble) plus complete [trigger haptics](https://nsfm.github.io/dualsense-ts/outputs/trigger-effects)
 - **[Touchpad support](https://nsfm.github.io/dualsense-ts/inputs/touchpad)** with full multi-touch handling
-- **[Motion tracking](https://nsfm.github.io/dualsense-ts/inputs/motion)** via factory-calibrated gyroscope and accelerometer readings
+- **[Motion tracking](https://nsfm.github.io/dualsense-ts/inputs/motion)** via factory-calibrated gyroscope and accelerometer, with built-in [orientation tracking](https://nsfm.github.io/dualsense-ts/api/orientation) and [shake detection](https://nsfm.github.io/dualsense-ts/api/shake-detector)
 - **[Battery status](https://nsfm.github.io/dualsense-ts/inputs/battery)** including level and charging state
 - **[Audio controls](https://nsfm.github.io/dualsense-ts/outputs/audio)** for speaker, headphone, and microphone volume, routing, and muting
 - **Peripheral status** for connected headphones and microphone
@@ -180,7 +180,7 @@ Each touch point also exposes a `tracker` ([Increment](src/elements/increment.ts
 
 #### [Motion Control](https://nsfm.github.io/dualsense-ts/inputs/motion)
 
-Values from the controller's 6-axis IMU are provided:
+Raw values from the controller's 6-axis IMU are provided:
 
 ```typescript
 controller.gyroscope.on("change", ({ x, y, z }) => {
@@ -196,10 +196,57 @@ controller.accelerometer.z.on("change", ({ magnitude }) => {
 });
 ```
 
-You'll need to perform additional processing to get the most use out of the raw readings — for example, by buffering accelerometer inputs and using a rolling Fourier transform to detect shaking.
-
 Gyroscope and accelerometer readings are automatically calibrated using each controller's factory calibration data, which removes gyro bias drift and accelerometer zero-point offset. Calibration is applied transparently — you can inspect the resolved factors via `controller.calibration`. See [Factory Calibration](https://nsfm.github.io/dualsense-ts/inputs/motion) in the docs for details on bias removal, zero-point correction, and per-axis sensitivity normalization.
 
+#### [Orientation Tracking](https://nsfm.github.io/dualsense-ts/api/orientation)
+
+Built-in sensor fusion provides a stable 3D orientation from the raw IMU data, powered by a zero-dependency [Madgwick AHRS](https://nsfm.github.io/dualsense-ts/api/orientation) filter:
+
+```typescript
+// Fused Euler angles (radians), updated every IMU sample
+const { pitch, yaw, roll } = controller.orientation;
+
+// Quaternion for 3D rendering
+const [w, x, y, z] = controller.orientation.quaternion;
+
+// Accelerometer-only tilt — no drift, no yaw
+const steer = controller.orientation.tiltRoll;
+
+// Tune the filter: lower beta = smoother, higher = less drift
+controller.orientation.beta = 0.02;
+
+// Reset to identity (e.g. on button press)
+controller.orientation.reset();
+```
+
+#### [Shake Detection](https://nsfm.github.io/dualsense-ts/api/shake-detector)
+
+The built-in shake detector uses [Goertzel frequency analysis](https://nsfm.github.io/dualsense-ts/api/shake-detector) to detect shake intensity, frequency, and direction-reversal rate:
+
+```typescript
+// Simple shake detection
+if (controller.shake.active) {
+  triggerEffect();
+}
+
+// Proportional response
+controller.left.rumble = controller.shake.intensity;
+
+// Frequency-based mechanics
+if (controller.shake.frequency > 4) {
+  baby.soothe(controller.shake.intensity);
+}
+
+// Tune sensitivity and analysis window at runtime
+controller.shake.threshold = 0.05;
+controller.shake.windowSize = 128;
+
+// Access raw spectrum for custom visualization
+for (const bin of controller.shake.spectrum) {
+  drawBar(bin.freq, bin.power);
+}
+```
+
 #### [Battery](https://nsfm.github.io/dualsense-ts/inputs/battery)
 
 The controller provides its current battery level and charging status:

package/dist/dualsense.d.ts

@@ -2,6 +2,7 @@ import { Momentary, Dpad, DpadParams, Mute, Unisense, UnisenseParams, Touchpad,
 import { Input, InputParams } from "./input";
 import { DualsenseHID, FirmwareInfo, FactoryInfo, DualsenseColor, ResolvedCalibration } from "./hid";
 import { Intensity } from "./math";
+import { Orientation, type OrientationParams, ShakeDetector, type ShakeDetectorParams } from "./motion";
 /** Settings for your Dualsense controller and each of its inputs */
 export interface DualsenseParams extends InputParams {
     /** Sets the source for HID events. Default: decide automatically */
@@ -36,6 +37,10 @@ export interface DualsenseParams extends InputParams {
     accelerometer?: AccelerometerParams;
     /** Settings for the battery */
     battery?: BatteryParams;
+    /** Settings for the orientation tracker (Madgwick AHRS) */
+    orientation?: OrientationParams;
+    /** Settings for the shake detector */
+    shake?: ShakeDetectorParams;
 }
 /** Represents a Dualsense controller */
 export declare class Dualsense extends Input<Dualsense> {
@@ -82,10 +87,24 @@ export declare class Dualsense extends Input<Dualsense> {
     readonly audio: Audio;
     /** Per-subsystem power save controls (disable touch, motion, haptics, audio) */
     readonly powerSave: PowerSaveControl;
+    /**
+     * Fused orientation from Madgwick AHRS sensor fusion.
+     * Provides pitch, yaw, roll (radians), quaternion, and
+     * accelerometer-only tilt. Updated automatically each HID report.
+     */
+    readonly orientation: Orientation;
+    /**
+     * Shake detector with frequency analysis.
+     * Provides intensity (0–1), dominant frequency (Hz), and an
+     * active flag. Updated automatically each HID report.
+     */
+    readonly shake: ShakeDetector;
     /** Monotonic sensor timestamp in microseconds from the controller's clock.
      *  Updated with each input report — useful for correlating motion sensor
      *  readings with other inputs across frames. Wraps at 2^32 (~71.6 minutes). */
     sensorTimestamp: number;
+    /** Previous sensor timestamp for computing dt (microseconds). */
+    private prevSensorTimestamp;
     /** Active interval timers, cleared on dispose */
     private readonly timers;
     /**

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package/dist/dualsense.js

@@ -4,6 +4,7 @@ exports.Dualsense = void 0;
 const elements_1 = require("./elements");
 const input_1 = require("./input");
 const hid_1 = require("./hid");
+const motion_1 = require("./motion");
 /** Represents a Dualsense controller */
 class Dualsense extends input_1.Input {
     /**
@@ -62,6 +63,8 @@ class Dualsense extends input_1.Input {
          *  Updated with each input report — useful for correlating motion sensor
          *  readings with other inputs across frames. Wraps at 2^32 (~71.6 minutes). */
         this.sensorTimestamp = 0;
+        /** Previous sensor timestamp for computing dt (microseconds). */
+        this.prevSensorTimestamp = 0;
         /** Active interval timers, cleared on dispose */
         this.timers = [];
         /**
@@ -156,6 +159,8 @@ class Dualsense extends input_1.Input {
             name: "Battery",
             ...(params.battery ?? {}),
         });
+        this.orientation = new motion_1.Orientation(params.orientation);
+        this.shake = new motion_1.ShakeDetector(params.shake);
         this.connection[input_1.InputSet](false);
         // If a HID instance was supplied externally (e.g. by DualsenseManager),
         // the owner is responsible for driving discovery + reconnection.
@@ -197,6 +202,11 @@ class Dualsense extends input_1.Input {
                 if (audioMemo.userChanged)
                     audioMemo.key = "";
             }
+            // Reset motion helpers on both connect and disconnect so
+            // orientation doesn't carry stale state across sessions.
+            this.orientation.reset();
+            this.shake.reset();
+            this.prevSensorTimestamp = 0;
         });
         // Seed the initial state in case the provider was already attached.
         this.connection[input_1.InputSet](this.hid.provider.connected);
@@ -375,6 +385,28 @@ class Dualsense extends input_1.Input {
         this.accelerometer.x[input_1.InputSet](state[hid_1.InputId.AccelX]);
         this.accelerometer.y[input_1.InputSet](state[hid_1.InputId.AccelY]);
         this.accelerometer.z[input_1.InputSet](state[hid_1.InputId.AccelZ]);
+        // Compute dt from the controller's hardware clock (microseconds).
+        // The timestamp wraps at 2^32 (~71.6 minutes).
+        const ts = state[hid_1.InputId.SensorTimestamp];
+        if (this.prevSensorTimestamp !== 0 && ts !== 0) {
+            const dtMicro = ts >= this.prevSensorTimestamp
+                ? ts - this.prevSensorTimestamp
+                : 0xFFFFFFFF - this.prevSensorTimestamp + ts + 1;
+            const dt = dtMicro / 1000000;
+            // Sanity check: skip if dt is unreasonable (>0.5s means we
+            // probably missed reports or just reconnected).
+            if (dt > 0 && dt < 0.5) {
+                const gx = state[hid_1.InputId.GyroX];
+                const gy = state[hid_1.InputId.GyroY];
+                const gz = state[hid_1.InputId.GyroZ];
+                const ax = state[hid_1.InputId.AccelX];
+                const ay = state[hid_1.InputId.AccelY];
+                const az = state[hid_1.InputId.AccelZ];
+                this.orientation.update(gx, gy, gz, ax, ay, az, dt);
+                this.shake.update(ax, ay, az, dt);
+            }
+        }
+        this.prevSensorTimestamp = ts;
         const level = state[hid_1.InputId.BatteryLevel];
         if (level > this.pendingBattery.peakLevel) {
             this.pendingBattery.peakLevel = level;

package/dist/dualsense.js.map

@@ -1 +1 @@
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package/dist/index.d.ts

@@ -10,4 +10,5 @@ export * from "./manager";
 export * from "./math";
 export * from "./elements/index";
 export * from "./hid/index";
+export * from "./motion/index";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,cAAc,SAAS,CAAC;AACxB,cAAc,eAAe,CAAC;AAC9B,cAAc,aAAa,CAAC;AAC5B,cAAc,MAAM,CAAC;AACrB,cAAc,SAAS,CAAC;AACxB,cAAc,WAAW,CAAC;AAC1B,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,aAAa,CAAC"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,cAAc,SAAS,CAAC;AACxB,cAAc,eAAe,CAAC;AAC9B,cAAc,aAAa,CAAC;AAC5B,cAAc,MAAM,CAAC;AACrB,cAAc,SAAS,CAAC;AACxB,cAAc,WAAW,CAAC;AAC1B,cAAc,QAAQ,CAAC;AACvB,cAAc,kBAAkB,CAAC;AACjC,cAAc,aAAa,CAAC;AAC5B,cAAc,gBAAgB,CAAC"}

package/dist/index.js

@@ -26,4 +26,5 @@ __exportStar(require("./manager"), exports);
 __exportStar(require("./math"), exports);
 __exportStar(require("./elements/index"), exports);
 __exportStar(require("./hid/index"), exports);
+__exportStar(require("./motion/index"), exports);
 //# sourceMappingURL=index.js.map

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":";AAAA;;GAEG;;;;;;;;;;;;;;;;AAEH,0CAAwB;AACxB,gDAA8B;AAC9B,8CAA4B;AAC5B,uCAAqB;AACrB,0CAAwB;AACxB,4CAA0B;AAC1B,yCAAuB;AACvB,mDAAiC;AACjC,8CAA4B;AAC5B,iDAA+B"}

package/dist/motion/index.d.ts

@@ -0,0 +1,8 @@
+/**
+ * @file Automatically generated by barrelsby.
+ */
+export * from "./madgwick";
+export * from "./orientation";
+export * from "./quaternion";
+export * from "./shake";
+//# sourceMappingURL=index.d.ts.map

package/dist/motion/index.d.ts.map

@@ -0,0 +1 @@
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package/dist/motion/index.js

@@ -0,0 +1,24 @@
+"use strict";
+/**
+ * @file Automatically generated by barrelsby.
+ */
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __exportStar = (this && this.__exportStar) || function(m, exports) {
+    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+__exportStar(require("./madgwick"), exports);
+__exportStar(require("./orientation"), exports);
+__exportStar(require("./quaternion"), exports);
+__exportStar(require("./shake"), exports);
+//# sourceMappingURL=index.js.map

package/dist/motion/index.js.map

@@ -0,0 +1 @@
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package/dist/motion/madgwick.d.ts

@@ -0,0 +1,41 @@
+/**
+ * Madgwick AHRS (Attitude and Heading Reference System) filter.
+ *
+ * Fuses 3-axis gyroscope and 3-axis accelerometer data into a stable
+ * orientation quaternion using gradient-descent-based correction.
+ *
+ * Reference: Sebastian Madgwick, "An efficient orientation filter for
+ * inertial and inertial/magnetic sensor arrays" (2010).
+ *
+ * Zero dependencies. The algorithm is ~40 lines of arithmetic.
+ */
+import { type Quaternion } from "./quaternion";
+export declare class MadgwickFilter {
+    /** Current orientation estimate. */
+    q: Quaternion;
+    /**
+     * Filter gain. Higher values trust the accelerometer more — less
+     * drift but more high-frequency noise. Lower values give smoother
+     * tracking but allow more gyro drift.
+     *
+     * Typical range: 0.01 (very smooth) to 0.5 (aggressive correction).
+     * Default 0.1 is a good general-purpose starting point.
+     */
+    beta: number;
+    constructor(beta?: number);
+    /** Reset to identity orientation. */
+    reset(): void;
+    /**
+     * Incorporate one IMU sample.
+     *
+     * @param gx  Gyroscope X (pitch) in **rad/s**
+     * @param gy  Gyroscope Y (yaw)   in **rad/s**
+     * @param gz  Gyroscope Z (roll)  in **rad/s**
+     * @param ax  Accelerometer X (any consistent unit — normalized internally)
+     * @param ay  Accelerometer Y
+     * @param az  Accelerometer Z
+     * @param dt  Time delta in **seconds** since last sample
+     */
+    update(gx: number, gy: number, gz: number, ax: number, ay: number, az: number, dt: number): void;
+}
+//# sourceMappingURL=madgwick.d.ts.map

package/dist/motion/madgwick.d.ts.map

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package/dist/motion/madgwick.js

@@ -0,0 +1,95 @@
+"use strict";
+/**
+ * Madgwick AHRS (Attitude and Heading Reference System) filter.
+ *
+ * Fuses 3-axis gyroscope and 3-axis accelerometer data into a stable
+ * orientation quaternion using gradient-descent-based correction.
+ *
+ * Reference: Sebastian Madgwick, "An efficient orientation filter for
+ * inertial and inertial/magnetic sensor arrays" (2010).
+ *
+ * Zero dependencies. The algorithm is ~40 lines of arithmetic.
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MadgwickFilter = void 0;
+const quaternion_1 = require("./quaternion");
+class MadgwickFilter {
+    constructor(beta = 0.1) {
+        /** Current orientation estimate. */
+        this.q = [...quaternion_1.IDENTITY];
+        this.beta = beta;
+    }
+    /** Reset to identity orientation. */
+    reset() {
+        this.q = [...quaternion_1.IDENTITY];
+    }
+    /**
+     * Incorporate one IMU sample.
+     *
+     * @param gx  Gyroscope X (pitch) in **rad/s**
+     * @param gy  Gyroscope Y (yaw)   in **rad/s**
+     * @param gz  Gyroscope Z (roll)  in **rad/s**
+     * @param ax  Accelerometer X (any consistent unit — normalized internally)
+     * @param ay  Accelerometer Y
+     * @param az  Accelerometer Z
+     * @param dt  Time delta in **seconds** since last sample
+     */
+    update(gx, gy, gz, ax, ay, az, dt) {
+        let [q0, q1, q2, q3] = this.q;
+        // ---- Normalize accelerometer ----
+        let norm = Math.sqrt(ax * ax + ay * ay + az * az);
+        if (norm === 0)
+            return; // free-fall or no data — gyro only would diverge
+        norm = 1 / norm;
+        ax *= norm;
+        ay *= norm;
+        az *= norm;
+        // ---- Precomputed terms ----
+        const _2q0 = 2 * q0;
+        const _2q1 = 2 * q1;
+        const _2q2 = 2 * q2;
+        const _2q3 = 2 * q3;
+        const _4q0 = 4 * q0;
+        const _4q1 = 4 * q1;
+        const _4q2 = 4 * q2;
+        const _8q1 = 8 * q1;
+        const _8q2 = 8 * q2;
+        const q0q0 = q0 * q0;
+        const q1q1 = q1 * q1;
+        const q2q2 = q2 * q2;
+        const q3q3 = q3 * q3;
+        // ---- Gradient descent corrective step ----
+        // Objective: align estimated gravity direction with measured gravity.
+        let s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
+        let s1 = _4q1 * q3q3 - _2q3 * ax + 4 * q0q0 * q1 - _2q0 * ay - _4q1 +
+            _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
+        let s2 = 4 * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 +
+            _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
+        let s3 = 4 * q1q1 * q3 - _2q1 * ax + 4 * q2q2 * q3 - _2q2 * ay;
+        const sNorm = s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3;
+        if (sNorm > 0) {
+            norm = 1 / Math.sqrt(sNorm);
+            s0 *= norm;
+            s1 *= norm;
+            s2 *= norm;
+            s3 *= norm;
+        }
+        // When sNorm ≈ 0, the accel already matches the estimated gravity
+        // direction — no correction needed, just integrate gyro.
+        // ---- Quaternion rate from gyroscope ----
+        const qDot0 = 0.5 * (-q1 * gx - q2 * gy - q3 * gz);
+        const qDot1 = 0.5 * (q0 * gx + q2 * gz - q3 * gy);
+        const qDot2 = 0.5 * (q0 * gy - q1 * gz + q3 * gx);
+        const qDot3 = 0.5 * (q0 * gz + q1 * gy - q2 * gx);
+        // ---- Fuse: gyro integration minus gradient correction ----
+        q0 += (qDot0 - (sNorm > 0 ? this.beta * s0 : 0)) * dt;
+        q1 += (qDot1 - (sNorm > 0 ? this.beta * s1 : 0)) * dt;
+        q2 += (qDot2 - (sNorm > 0 ? this.beta * s2 : 0)) * dt;
+        q3 += (qDot3 - (sNorm > 0 ? this.beta * s3 : 0)) * dt;
+        // ---- Re-normalize ----
+        norm = 1 / Math.sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+        this.q = [q0 * norm, q1 * norm, q2 * norm, q3 * norm];
+    }
+}
+exports.MadgwickFilter = MadgwickFilter;
+//# sourceMappingURL=madgwick.js.map

package/dist/motion/madgwick.js.map

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package/dist/motion/orientation.d.ts

@@ -0,0 +1,62 @@
+/**
+ * High-level orientation tracker for the DualSense controller.
+ *
+ * Wraps the Madgwick AHRS filter and provides:
+ *   - Fused orientation as Euler angles and quaternion
+ *   - Accelerometer-only tilt (no drift, no yaw — useful for
+ *     gravity-reference applications like steering)
+ *   - Automatic unit conversion from the library's [-1, 1] calibrated
+ *     values to the rad/s and g units the filter expects
+ *
+ * DualSense IMU hardware constants:
+ *   Gyroscope:     ±2000 deg/s full scale → 1.0 = 2000 deg/s
+ *   Accelerometer: ±4 g full scale        → 0.25 ≈ 1 g
+ */
+import { type Quaternion } from "./quaternion";
+export interface OrientationParams {
+    /**
+     * Madgwick filter gain. Higher = more accelerometer trust (less drift,
+     * more noise). Lower = smoother but driftier.
+     *
+     * - 0.01–0.04: very smooth, noticeable drift over minutes
+     * - 0.05–0.15: general purpose (default 0.1)
+     * - 0.2–0.5:  aggressive correction, jittery under vibration
+     */
+    beta?: number;
+}
+export declare class Orientation {
+    /** Fused orientation as Euler angles (radians, updated each sample). */
+    pitch: number;
+    yaw: number;
+    roll: number;
+    /** Fused orientation as a unit quaternion [w, x, y, z]. */
+    quaternion: Quaternion;
+    /**
+     * Tilt derived from the accelerometer gravity vector alone.
+     * No drift, but also no yaw — only pitch and roll.
+     * Noisy during motion; best used when the controller is relatively still.
+     */
+    tiltPitch: number;
+    tiltRoll: number;
+    /** Madgwick filter gain. Can be adjusted at runtime. */
+    get beta(): number;
+    set beta(v: number);
+    private readonly filter;
+    constructor(params?: OrientationParams);
+    /** Reset to identity orientation (call when zeroing the view). */
+    reset(): void;
+    /**
+     * Incorporate one IMU sample. Called automatically by the Dualsense
+     * class on each HID report — you don't normally call this yourself.
+     *
+     * @param gx  Calibrated gyro X (pitch), [-1, 1]
+     * @param gy  Calibrated gyro Y (yaw),   [-1, 1]
+     * @param gz  Calibrated gyro Z (roll),  [-1, 1]
+     * @param ax  Calibrated accel X, [-1, 1]
+     * @param ay  Calibrated accel Y, [-1, 1]
+     * @param az  Calibrated accel Z, [-1, 1]
+     * @param dt  Time delta in seconds
+     */
+    update(gx: number, gy: number, gz: number, ax: number, ay: number, az: number, dt: number): void;
+}
+//# sourceMappingURL=orientation.d.ts.map

package/dist/motion/orientation.d.ts.map

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package/dist/motion/orientation.js

@@ -0,0 +1,106 @@
+"use strict";
+/**
+ * High-level orientation tracker for the DualSense controller.
+ *
+ * Wraps the Madgwick AHRS filter and provides:
+ *   - Fused orientation as Euler angles and quaternion
+ *   - Accelerometer-only tilt (no drift, no yaw — useful for
+ *     gravity-reference applications like steering)
+ *   - Automatic unit conversion from the library's [-1, 1] calibrated
+ *     values to the rad/s and g units the filter expects
+ *
+ * DualSense IMU hardware constants:
+ *   Gyroscope:     ±2000 deg/s full scale → 1.0 = 2000 deg/s
+ *   Accelerometer: ±4 g full scale        → 0.25 ≈ 1 g
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.Orientation = void 0;
+const madgwick_1 = require("./madgwick");
+const quaternion_1 = require("./quaternion");
+/**
+ * Convert our [-1, 1] calibrated gyro value to rad/s.
+ * Full scale is ±2000 deg/s = ±34.9066 rad/s.
+ */
+const GYRO_SCALE = 2000 * (Math.PI / 180); // ≈ 34.9066
+class Orientation {
+    // ---- Configuration ----
+    /** Madgwick filter gain. Can be adjusted at runtime. */
+    get beta() {
+        return this.filter.beta;
+    }
+    set beta(v) {
+        this.filter.beta = v;
+    }
+    constructor(params) {
+        // ---- Public state (read these in your game loop) ----
+        /** Fused orientation as Euler angles (radians, updated each sample). */
+        this.pitch = 0;
+        this.yaw = 0;
+        this.roll = 0;
+        /** Fused orientation as a unit quaternion [w, x, y, z]. */
+        this.quaternion = [...quaternion_1.IDENTITY];
+        /**
+         * Tilt derived from the accelerometer gravity vector alone.
+         * No drift, but also no yaw — only pitch and roll.
+         * Noisy during motion; best used when the controller is relatively still.
+         */
+        this.tiltPitch = 0;
+        this.tiltRoll = 0;
+        this.filter = new madgwick_1.MadgwickFilter(params?.beta ?? 0.1);
+    }
+    /** Reset to identity orientation (call when zeroing the view). */
+    reset() {
+        this.filter.reset();
+        this.pitch = 0;
+        this.yaw = 0;
+        this.roll = 0;
+        this.quaternion = [...quaternion_1.IDENTITY];
+        this.tiltPitch = 0;
+        this.tiltRoll = 0;
+    }
+    /**
+     * Incorporate one IMU sample. Called automatically by the Dualsense
+     * class on each HID report — you don't normally call this yourself.
+     *
+     * @param gx  Calibrated gyro X (pitch), [-1, 1]
+     * @param gy  Calibrated gyro Y (yaw),   [-1, 1]
+     * @param gz  Calibrated gyro Z (roll),  [-1, 1]
+     * @param ax  Calibrated accel X, [-1, 1]
+     * @param ay  Calibrated accel Y, [-1, 1]
+     * @param az  Calibrated accel Z, [-1, 1]
+     * @param dt  Time delta in seconds
+     */
+    update(gx, gy, gz, ax, ay, az, dt) {
+        // Remap DualSense axes to Madgwick's Z-up convention.
+        // DualSense: X = right, Y = up (gravity), Z = forward
+        // Madgwick:  X = right, Y = forward,      Z = up (gravity)
+        // Mapping:   filter(X, Y, Z) = DS(X, -Z, Y)
+        this.filter.update(gx * GYRO_SCALE, // filter X = DS X (pitch axis)
+        -gz * GYRO_SCALE, // filter Y = -DS Z (negated forward)
+        gy * GYRO_SCALE, // filter Z = DS Y (gravity axis → up)
+        ax, // accel X unchanged
+        -az, // accel Y = -DS Z
+        ay, // accel Z = DS Y (gravity)
+        dt);
+        // Extract Euler angles and remap back to DualSense frame
+        this.quaternion = this.filter.q;
+        const euler = (0, quaternion_1.toEuler)(this.quaternion);
+        this.pitch = euler.pitch; // filter X rotation → DS pitch (forward/back)
+        this.yaw = euler.roll; // filter Z rotation → DS yaw (left/right turn)
+        this.roll = -euler.yaw; // filter Y rotation → DS roll (side tilt, negated)
+        // Accelerometer-only tilt (gravity reference)
+        // DualSense axes: X = lateral, Y = vertical (up at rest), Z = forward
+        // Pitch = forward/back tilt (around X): gravity shifts from Y toward Z
+        // Roll  = side-to-side tilt (around Z): gravity shifts from Y toward X
+        const aNorm = Math.sqrt(ax * ax + ay * ay + az * az);
+        if (aNorm > 0) {
+            const nax = ax / aNorm;
+            const nay = ay / aNorm;
+            const naz = az / aNorm;
+            this.tiltPitch = Math.atan2(-naz, nay);
+            this.tiltRoll = Math.atan2(nax, Math.sqrt(nay * nay + naz * naz));
+        }
+    }
+}
+exports.Orientation = Orientation;
+//# sourceMappingURL=orientation.js.map

package/dist/motion/orientation.js.map

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package/dist/motion/quaternion.d.ts

@@ -0,0 +1,30 @@
+/**
+ * Minimal quaternion math for AHRS sensor fusion.
+ *
+ * Quaternions are represented as [w, x, y, z] tuples where w is the
+ * scalar part. All functions are pure — no mutations, no allocations
+ * beyond the returned tuple.
+ */
+/** A unit quaternion [w, x, y, z] representing a 3D orientation. */
+export type Quaternion = [number, number, number, number];
+/** Euler angles in radians, extracted from a quaternion. */
+export interface EulerAngles {
+    /** Rotation around X axis (radians, -PI to PI) */
+    pitch: number;
+    /** Rotation around Y axis (radians, -PI to PI) */
+    yaw: number;
+    /** Rotation around Z axis (radians, -PI to PI) */
+    roll: number;
+}
+/** Identity quaternion — no rotation. */
+export declare const IDENTITY: Quaternion;
+/** Normalize a quaternion to unit length. */
+export declare function normalize(q: Quaternion): Quaternion;
+/**
+ * Extract Euler angles (Tait-Bryan ZYX intrinsic) from a unit quaternion.
+ *
+ * Convention: pitch = X-axis, yaw = Y-axis, roll = Z-axis.
+ * All angles in radians, range (-PI, PI].
+ */
+export declare function toEuler(q: Quaternion): EulerAngles;
+//# sourceMappingURL=quaternion.d.ts.map

package/dist/motion/quaternion.d.ts.map

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package/dist/motion/quaternion.js

@@ -0,0 +1,44 @@
+"use strict";
+/**
+ * Minimal quaternion math for AHRS sensor fusion.
+ *
+ * Quaternions are represented as [w, x, y, z] tuples where w is the
+ * scalar part. All functions are pure — no mutations, no allocations
+ * beyond the returned tuple.
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.IDENTITY = void 0;
+exports.normalize = normalize;
+exports.toEuler = toEuler;
+/** Identity quaternion — no rotation. */
+exports.IDENTITY = [1, 0, 0, 0];
+/** Normalize a quaternion to unit length. */
+function normalize(q) {
+    const [w, x, y, z] = q;
+    const invNorm = 1 / Math.sqrt(w * w + x * x + y * y + z * z);
+    return [w * invNorm, x * invNorm, y * invNorm, z * invNorm];
+}
+/**
+ * Extract Euler angles (Tait-Bryan ZYX intrinsic) from a unit quaternion.
+ *
+ * Convention: pitch = X-axis, yaw = Y-axis, roll = Z-axis.
+ * All angles in radians, range (-PI, PI].
+ */
+function toEuler(q) {
+    const [w, x, y, z] = q;
+    // Roll (Z-axis)
+    const sinr = 2 * (w * z + x * y);
+    const cosr = 1 - 2 * (y * y + z * z);
+    const roll = Math.atan2(sinr, cosr);
+    // Pitch (X-axis)
+    const sinp = 2 * (w * x - y * z);
+    const pitch = Math.abs(sinp) >= 1
+        ? Math.sign(sinp) * (Math.PI / 2) // gimbal lock
+        : Math.asin(sinp);
+    // Yaw (Y-axis)
+    const siny = 2 * (w * y + z * x);
+    const cosy = 1 - 2 * (x * x + y * y);
+    const yaw = Math.atan2(siny, cosy);
+    return { pitch, yaw, roll };
+}
+//# sourceMappingURL=quaternion.js.map

package/dist/motion/quaternion.js.map

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package/dist/motion/shake.d.ts

@@ -0,0 +1,132 @@
+/**
+ * Shake detector with frequency-band energy analysis.
+ *
+ * Maintains circular buffers of per-axis acceleration samples. Shake
+ * intensity is computed via RMS of the acceleration magnitude deviation
+ * from its mean (high-pass to remove gravity). The dominant shake
+ * frequency is identified using the Goertzel algorithm — a single-bin
+ * DFT that's far cheaper than a full FFT — applied to the first-
+ * difference of individual axis signals:
+ *
+ *   - Per-axis preserves the fundamental frequency (magnitude would
+ *     full-wave-rectify the signal, doubling the apparent frequency).
+ *   - First-difference acts as a high-pass filter, removing DC (gravity)
+ *     and low-frequency drift from arm movement. Its gain is proportional
+ *     to frequency, so the Goertzel output naturally favors oscillatory
+ *     shake signals over slow drift — no ad-hoc weighting needed.
+ *
+ * A 1/freq compensation is applied so the net effective weighting is
+ * proportional to freq (diff-filter gain² ∝ freq², divided by freq),
+ * giving moderate preference to actual shake frequencies without
+ * completely suppressing sub-1 Hz rocking.
+ *
+ * `.frequency` reports the **reversal rate** (2× fundamental) — how many
+ * direction changes per second. This matches the intuitive "how fast am
+ * I shaking it?" mental model. `.fundamental` reports the true oscillation
+ * frequency (one full back-and-forth cycle).
+ *
+ * The active flag uses a sustain counter to require several consecutive
+ * frames above threshold before triggering, preventing transient jolts
+ * from registering as shakes.
+ */
+/** A single frequency bin with its associated power level. */
+export interface FrequencyBin {
+    /** Frequency in Hz. */
+    freq: number;
+    /** Weighted power (arbitrary units, relative within the array). */
+    power: number;
+}
+/** Configuration for the shake detector. */
+export interface ShakeDetectorParams {
+    /** Intensity (0–1) above which `.active` becomes true. Default 0.15. */
+    threshold?: number;
+    /** Number of samples in the analysis window. Default 256 (~1s at 250 Hz, ~3s at 84 Hz in browser). */
+    windowSize?: number;
+    /**
+     * Number of consecutive above-threshold frames required before `.active`
+     * becomes true. Also the number of below-threshold frames required to
+     * deactivate. Default 15 (~60 ms at 250 Hz).
+     */
+    sustain?: number;
+    /** Frequency bin resolution in Hz. Default 0.25. Smaller = finer but more bins to compute. */
+    freqStep?: number;
+    /** Minimum detectable frequency in Hz. Default 0.25. */
+    freqMin?: number;
+    /** Maximum detectable frequency in Hz. Default 15. */
+    freqMax?: number;
+}
+export declare class ShakeDetector {
+    /** Whether the controller is currently being shaken (sustained). */
+    active: boolean;
+    /** Shake intensity from 0 (still) to 1 (violent shake). */
+    intensity: number;
+    /**
+     * Dominant shake frequency in Hz as a **reversal rate** — how many
+     * direction changes per second (2× the fundamental oscillation
+     * frequency). 0 when not shaking.
+     */
+    frequency: number;
+    /**
+     * Fundamental oscillation frequency in Hz — one complete back-and-forth
+     * cycle. Equal to `frequency / 2`. 0 when not shaking.
+     */
+    fundamental: number;
+    /** Intensity threshold for `active`. */
+    threshold: number;
+    /** Estimated sample rate in Hz (derived from dt). Useful for diagnostics. */
+    get inputRate(): number;
+    /** Number of samples in the analysis window. Can be changed at runtime (resets state). */
+    get windowSize(): number;
+    set windowSize(n: number);
+    /**
+     * Current frequency spectrum — weighted power at each probed bin.
+     * Updated every frame when intensity is above half the threshold.
+     * Useful for visualization/diagnostics.
+     */
+    get spectrum(): readonly FrequencyBin[];
+    private bufX;
+    private bufY;
+    private bufZ;
+    private head;
+    private filled;
+    private _sampleRate;
+    /** Sustain counter for debounce — counts up when above threshold, down when below. */
+    private sustainCounter;
+    private readonly sustainRequired;
+    /** EMA-smoothed frequency for stable readout. */
+    private smoothedFreq;
+    /** Frequency bins to probe, built from constructor params. */
+    private readonly freqBins;
+    /** Bin step size, used for snapping the EMA output. */
+    private readonly freqStep;
+    /** Latest computed bin powers. */
+    private _bins;
+    /**
+     * Scale factor: maps RMS of our [-1, 1] calibrated accel deviation
+     * to a 0–1 intensity. A vigorous shake produces magnitude-RMS of
+     * ~0.3–0.5 in our units; this maps that to ~0.6–1.0 intensity.
+     */
+    private static readonly INTENSITY_SCALE;
+    constructor(params?: ShakeDetectorParams);
+    /** Reset all state (call on disconnect). */
+    reset(): void;
+    /**
+     * Feed one accelerometer sample.
+     *
+     * @param ax  Calibrated accel X ([-1, 1])
+     * @param ay  Calibrated accel Y ([-1, 1])
+     * @param az  Calibrated accel Z ([-1, 1])
+     * @param dt  Time delta in seconds since last sample
+     */
+    update(ax: number, ay: number, az: number, dt: number): void;
+    /**
+     * Goertzel algorithm: compute power at a single target frequency.
+     *
+     * Operates on the first-difference of the filled portion of a circular
+     * buffer. The first-difference (x[n] - x[n-1]) acts as a high-pass
+     * filter that removes DC (gravity) and low-frequency arm drift, with
+     * gain proportional to frequency.
+     */
+    private goertzel;
+}
+//# sourceMappingURL=shake.d.ts.map

package/dist/motion/shake.d.ts.map

@@ -0,0 +1 @@
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package/dist/motion/shake.js

@@ -0,0 +1,254 @@
+"use strict";
+/**
+ * Shake detector with frequency-band energy analysis.
+ *
+ * Maintains circular buffers of per-axis acceleration samples. Shake
+ * intensity is computed via RMS of the acceleration magnitude deviation
+ * from its mean (high-pass to remove gravity). The dominant shake
+ * frequency is identified using the Goertzel algorithm — a single-bin
+ * DFT that's far cheaper than a full FFT — applied to the first-
+ * difference of individual axis signals:
+ *
+ *   - Per-axis preserves the fundamental frequency (magnitude would
+ *     full-wave-rectify the signal, doubling the apparent frequency).
+ *   - First-difference acts as a high-pass filter, removing DC (gravity)
+ *     and low-frequency drift from arm movement. Its gain is proportional
+ *     to frequency, so the Goertzel output naturally favors oscillatory
+ *     shake signals over slow drift — no ad-hoc weighting needed.
+ *
+ * A 1/freq compensation is applied so the net effective weighting is
+ * proportional to freq (diff-filter gain² ∝ freq², divided by freq),
+ * giving moderate preference to actual shake frequencies without
+ * completely suppressing sub-1 Hz rocking.
+ *
+ * `.frequency` reports the **reversal rate** (2× fundamental) — how many
+ * direction changes per second. This matches the intuitive "how fast am
+ * I shaking it?" mental model. `.fundamental` reports the true oscillation
+ * frequency (one full back-and-forth cycle).
+ *
+ * The active flag uses a sustain counter to require several consecutive
+ * frames above threshold before triggering, preventing transient jolts
+ * from registering as shakes.
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.ShakeDetector = void 0;
+class ShakeDetector {
+    /** Estimated sample rate in Hz (derived from dt). Useful for diagnostics. */
+    get inputRate() {
+        return this._sampleRate;
+    }
+    /** Number of samples in the analysis window. Can be changed at runtime (resets state). */
+    get windowSize() {
+        return this.bufX.length;
+    }
+    set windowSize(n) {
+        if (n === this.bufX.length)
+            return;
+        this.bufX = new Float64Array(n);
+        this.bufY = new Float64Array(n);
+        this.bufZ = new Float64Array(n);
+        this.head = 0;
+        this.filled = 0;
+        this.smoothedFreq = 0;
+        this.sustainCounter = 0;
+        this.active = false;
+        this.intensity = 0;
+        this.frequency = 0;
+        this.fundamental = 0;
+        this._bins = [];
+    }
+    /**
+     * Current frequency spectrum — weighted power at each probed bin.
+     * Updated every frame when intensity is above half the threshold.
+     * Useful for visualization/diagnostics.
+     */
+    get spectrum() {
+        return this._bins;
+    }
+    constructor(params) {
+        /** Whether the controller is currently being shaken (sustained). */
+        this.active = false;
+        /** Shake intensity from 0 (still) to 1 (violent shake). */
+        this.intensity = 0;
+        /**
+         * Dominant shake frequency in Hz as a **reversal rate** — how many
+         * direction changes per second (2× the fundamental oscillation
+         * frequency). 0 when not shaking.
+         */
+        this.frequency = 0;
+        /**
+         * Fundamental oscillation frequency in Hz — one complete back-and-forth
+         * cycle. Equal to `frequency / 2`. 0 when not shaking.
+         */
+        this.fundamental = 0;
+        this.head = 0;
+        this.filled = 0;
+        this._sampleRate = 250; // estimated, updated from dt
+        /** Sustain counter for debounce — counts up when above threshold, down when below. */
+        this.sustainCounter = 0;
+        /** EMA-smoothed frequency for stable readout. */
+        this.smoothedFreq = 0;
+        /** Latest computed bin powers. */
+        this._bins = [];
+        this.threshold = params?.threshold ?? 0.15;
+        this.sustainRequired = params?.sustain ?? 15;
+        const windowSize = params?.windowSize ?? 256;
+        this.bufX = new Float64Array(windowSize);
+        this.bufY = new Float64Array(windowSize);
+        this.bufZ = new Float64Array(windowSize);
+        this.freqStep = params?.freqStep ?? 0.25;
+        const freqMin = params?.freqMin ?? 0.25;
+        const freqMax = params?.freqMax ?? 15;
+        this.freqBins = [];
+        for (let f = freqMin; f <= freqMax + 1e-9; f += this.freqStep) {
+            this.freqBins.push(Math.round(f * 1000) / 1000); // avoid float drift
+        }
+    }
+    /** Reset all state (call on disconnect). */
+    reset() {
+        this.bufX.fill(0);
+        this.bufY.fill(0);
+        this.bufZ.fill(0);
+        this.head = 0;
+        this.filled = 0;
+        this.intensity = 0;
+        this.frequency = 0;
+        this.fundamental = 0;
+        this.active = false;
+        this._sampleRate = 250;
+        this.sustainCounter = 0;
+        this.smoothedFreq = 0;
+        this._bins = [];
+    }
+    /**
+     * Feed one accelerometer sample.
+     *
+     * @param ax  Calibrated accel X ([-1, 1])
+     * @param ay  Calibrated accel Y ([-1, 1])
+     * @param az  Calibrated accel Z ([-1, 1])
+     * @param dt  Time delta in seconds since last sample
+     */
+    update(ax, ay, az, dt) {
+        // Update sample rate estimate (exponential moving average)
+        if (dt > 0 && dt < 0.1) {
+            const instantRate = 1 / dt;
+            this._sampleRate += 0.1 * (instantRate - this._sampleRate);
+        }
+        // Store per-axis acceleration in circular buffers
+        const len = this.bufX.length;
+        this.bufX[this.head] = ax;
+        this.bufY[this.head] = ay;
+        this.bufZ[this.head] = az;
+        this.head = (this.head + 1) % len;
+        if (this.filled < len)
+            this.filled++;
+        // Need at least half a window to produce meaningful results
+        if (this.filled < len / 2)
+            return;
+        // ---- Intensity: RMS of magnitude deviation from mean ----
+        const n = this.filled;
+        const start = n < len ? 0 : this.head;
+        // Compute acceleration magnitudes and their mean
+        let magSum = 0;
+        for (let i = 0; i < n; i++) {
+            const idx = (start + i) % len;
+            const x = this.bufX[idx], y = this.bufY[idx], z = this.bufZ[idx];
+            magSum += Math.sqrt(x * x + y * y + z * z);
+        }
+        const magMean = magSum / n;
+        let sumSq = 0;
+        for (let i = 0; i < n; i++) {
+            const idx = (start + i) % len;
+            const x = this.bufX[idx], y = this.bufY[idx], z = this.bufZ[idx];
+            const d = Math.sqrt(x * x + y * y + z * z) - magMean;
+            sumSq += d * d;
+        }
+        const rms = Math.sqrt(sumSq / n);
+        this.intensity = Math.min(1, rms * ShakeDetector.INTENSITY_SCALE);
+        // ---- Frequency: per-axis Goertzel on first-difference signal ----
+        if (this.intensity > this.threshold * 0.5) {
+            let peakPower = 0;
+            let peakFreq = 0;
+            this._bins = new Array(this.freqBins.length);
+            for (let b = 0; b < this.freqBins.length; b++) {
+                const freq = this.freqBins[b];
+                const px = this.goertzel(freq, this.bufX);
+                const py = this.goertzel(freq, this.bufY);
+                const pz = this.goertzel(freq, this.bufZ);
+                // The first-difference filter has gain ∝ freq², so raw Goertzel
+                // power is ∝ freq² × signal_power. Divide by freq to get net
+                // weighting ∝ freq — moderate preference for shake frequencies
+                // without killing sub-1 Hz rocking.
+                const power = Math.max(px, py, pz) / freq;
+                this._bins[b] = { freq, power };
+                if (power > peakPower) {
+                    peakPower = power;
+                    peakFreq = freq;
+                }
+            }
+            // EMA-smooth the frequency reading for stability.
+            // α = 0.2 gives ~5-frame smoothing at 250 Hz.
+            const alpha = 0.2;
+            if (this.smoothedFreq === 0) {
+                this.smoothedFreq = peakFreq;
+            }
+            else {
+                this.smoothedFreq += alpha * (peakFreq - this.smoothedFreq);
+            }
+            // Snap to nearest bin step for clean readout
+            const snapped = Math.round(this.smoothedFreq / this.freqStep) * this.freqStep;
+            this.fundamental = snapped;
+            this.frequency = snapped * 2; // reversal rate
+        }
+        else {
+            this.smoothedFreq = 0;
+            this.frequency = 0;
+            this.fundamental = 0;
+            this._bins = [];
+        }
+        // ---- Sustain: require consecutive frames to activate/deactivate ----
+        if (this.intensity > this.threshold) {
+            this.sustainCounter = Math.min(this.sustainCounter + 1, this.sustainRequired * 2);
+        }
+        else {
+            this.sustainCounter = Math.max(this.sustainCounter - 1, 0);
+        }
+        this.active = this.sustainCounter >= this.sustainRequired;
+    }
+    /**
+     * Goertzel algorithm: compute power at a single target frequency.
+     *
+     * Operates on the first-difference of the filled portion of a circular
+     * buffer. The first-difference (x[n] - x[n-1]) acts as a high-pass
+     * filter that removes DC (gravity) and low-frequency arm drift, with
+     * gain proportional to frequency.
+     */
+    goertzel(targetFreq, buf) {
+        const N = this.filled;
+        const k = (targetFreq * N) / this._sampleRate;
+        const w = (2 * Math.PI * k) / N;
+        const coeff = 2 * Math.cos(w);
+        let s1 = 0;
+        let s2 = 0;
+        const start = this.filled < buf.length ? 0 : this.head;
+        let prevSample = buf[start % buf.length];
+        for (let i = 0; i < N; i++) {
+            const idx = (start + i) % buf.length;
+            const raw = buf[idx];
+            const x = raw - prevSample; // first-difference high-pass
+            prevSample = raw;
+            const s0 = x + coeff * s1 - s2;
+            s2 = s1;
+            s1 = s0;
+        }
+        return s1 * s1 + s2 * s2 - coeff * s1 * s2;
+    }
+}
+exports.ShakeDetector = ShakeDetector;
+/**
+ * Scale factor: maps RMS of our [-1, 1] calibrated accel deviation
+ * to a 0–1 intensity. A vigorous shake produces magnitude-RMS of
+ * ~0.3–0.5 in our units; this maps that to ~0.6–1.0 intensity.
+ */
+ShakeDetector.INTENSITY_SCALE = 2;
+//# sourceMappingURL=shake.js.map

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "dualsense-ts",
-  "version": "6.12.0",
+  "version": "6.13.0",
   "description": "The natural interface for your DualSense controller, with Typescript",
   "keywords": [
     "dualsense",