Add motion tracking and calibration features

source/tap.cpp

@@ -7,7 +7,7 @@
 extern BLEHidAdafruit blehid;
 
 // Tap detection setup 
-// REG_TAP_THS_6D bits[4:0] = tapThreshold (1–31); 1 LSB = FS/32 = 62.5 mg at ±2g.
+// REG_TAP_THS_6D bits[4:0] = tapThreshold (1–31); 1 LSB = FS/32 = 125 mg at ±4g.
 // REG_INT_DUR2 at ODR=416 Hz:
 //  SHOCK[7:6] = 2 → 38 ms max tap duration
 //  QUIET[5:4] = 2 → 19 ms refractory after tap
@@ -20,14 +20,15 @@ void applyTapThreshold() {
 }
 
 void setupTapDetection() {
-  imuWriteReg(REG_CTRL1_XL,    0x60);  // ODR=416 Hz, FS=±2g
+  // ODR=416 Hz; keep the ±4 g full scale the tracking pipeline expects
+  imuWriteReg(REG_CTRL1_XL, (imuReadReg(REG_CTRL1_XL) & 0x0F) | 0x60);
   imuWriteReg(REG_TAP_CFG,     0x8E);  // TIMER_EN + LIR + TAP_Z/Y/X enabled
   applyTapThreshold();
   imuWriteReg(REG_INT_DUR2,    0x62);  // SHOCK=2(38ms), QUIET=2(19ms), DUR=6(115ms)
   imuWriteReg(REG_WAKE_UP_THS, 0x80);  // bit7=1 → single + double tap both enabled
   imuWriteReg(REG_MD1_CFG,     0x48);  // route single-tap(0x08) + double-tap(0x40) → INT1
   Serial.print("[TAP] threshold="); Serial.print(cfg.tapThreshold);
-  Serial.print(" (~"); Serial.print(cfg.tapThreshold * 62.5f, 0); Serial.println(" mg)");
+  Serial.print(" (~"); Serial.print(cfg.tapThreshold * 125.0f, 0); Serial.println(" mg)");
 }
 
 // Tap processing