CodeCell: Motion State

CodeCell can also detect whether the device is on a table, stationary, or in motion, using its Motion State sensing feature.

Understanding Motion State Detection

The CodeCell's BNO085 sensor provides a built-in algorithm called Motion State, which classifies the device’s movement into simple, easy-to-use states.

Enable Motion State with:

myCodeCell.Init(MOTION_STATE);    // Enable motion state sensing

Read the current state using:

int state = myCodeCell.Motion_StateRead();

Motion State Reference

Tip:
The difference between Stationary and Stable:

• Stable = recently stopped but still settling
• Stationary = fully still for a moment

Example – Serial Motion State Monitor

This example prints the current Motion State every 100 ms.

/*
  Example: Motion State Monitor Demo
  Boards: CodeCell C3 / CodeCell C3 Light / CodeCell C6 / CodeCell C6 Drive

  Overview:
  - Demonstrates the CodeCell's Motion State sensing.
  - Continuously reports whether the device is On-Table, In Motion, Stabilizing, or Stationary.  
*/

#include <CodeCell.h>

CodeCell myCodeCell;

void setup() {
  Serial.begin(115200);           // Start USB serial at 115200 baud
  myCodeCell.Init(MOTION_STATE);  // Enable Motion State sensing
}

void loop() {
  if (myCodeCell.Run(10)) {  // Run at 10 Hz
    Serial.print("State: ");
    switch (myCodeCell.Motion_StateRead()) {
      case MOTION_STATE_STABLE:
        Serial.println("Motion Stopped - Stabilizing");
        break;
      case MOTION_STATE_ONTABLE:
        Serial.println("On Table");
        break;
      case MOTION_STATE_STATIONARY:
        Serial.println("Stationary");
        break;
      case MOTION_STATE_MOTION:
        Serial.println("In Motion");
        break;
      default:
        Serial.println("Unknown");
        break;
    }
  }
}

When to Use Motion State

• Notify devices when picked up: Detect when a project moves.
• Trigger actions on motion stop: Start logging or measuring once movement stabilizes.
• Sleep mode optimization: Enter deep sleep when stationary for better battery life.

Notes

• Motion State may take a few seconds to stabilize after powering on.
• Mounting orientation affects sensitivity - fixed, rigid mounting gives the best results.