Arduino class for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS) More...

#include <SparkFun_Qwiic_OTOS_Arduino_Library.h>

Inheritance diagram for QwiicOTOS:

Public Member Functions
bool	begin (TwoWire &wirePort=Wire)
	Begins the Qwiic OTOS and verifies it is connected. More...

sfTkError_t	begin (sfTkII2C *commBus=nullptr)
	Begins the Qwiic OTOS and verifies it is connected. More...

sfTkError_t	isConnected ()
	Checks if the device is connected. More...

sfTkError_t	getVersionInfo (sfe_otos_version_t &hwVersion, sfe_otos_version_t &fwVersion)
	Gets the hardware and firmware version numbers from the OTOS. More...

sfTkError_t	selfTest ()
	Performs a self test of the OTOS. More...

sfTkError_t	calibrateImu (uint8_t numSamples=255, bool waitUntilDone=true)
	Calibrates the IMU on the OTOS, which removes the accelerometer and gyroscope offsets. More...

sfTkError_t	getImuCalibrationProgress (uint8_t &numSamples)
	Gets the progress of the IMU calibration. Used for asynchronous calibration with calibrateImu() More...

sfe_otos_linear_unit_t	getLinearUnit ()
	Gets the linear unit used by all methods using a pose. More...

void	setLinearUnit (sfe_otos_linear_unit_t unit)
	Sets the linear unit used by all methods using a pose. More...

sfe_otos_angular_unit_t	getAngularUnit ()
	Gets the angular unit used by all methods using a pose. More...

void	setAngularUnit (sfe_otos_angular_unit_t unit)
	Sets the angular unit used by all methods using a pose. More...

sfTkError_t	getLinearScalar (float &scalar)
	Gets the linear scalar used by the OTOS. More...

sfTkError_t	setLinearScalar (float scalar)
	Sets the linear scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements. More...

sfTkError_t	getAngularScalar (float &scalar)
	Gets the angular scalar used by the OTOS. More...

sfTkError_t	setAngularScalar (float scalar)
	Sets the angular scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements. More...

sfTkError_t	resetTracking ()
	Resets the tracking algorithm, which resets the position to the origin, but can also be used to recover from some rare tracking errors. More...

sfTkError_t	getSignalProcessConfig (sfe_otos_signal_process_config_t &config)
	Gets the signal processing configuration from the OTOS. More...

sfTkError_t	setSignalProcessConfig (sfe_otos_signal_process_config_t &config)
	Sets the signal processing configuration on the OTOS. This is primarily useful for creating and testing a new lookup table calibration. More...

sfTkError_t	getStatus (sfe_otos_status_t &status)
	Gets the status register from the OTOS, which includes warnings and errors reported by the sensor. More...

sfTkError_t	getOffset (sfe_otos_pose2d_t &pose)
	Gets the offset of the OTOS. More...

sfTkError_t	setOffset (sfe_otos_pose2d_t &pose)
	Sets the offset of the OTOS. This is useful if your sensor is mounted off-center from a robot. Rather than returning the position of the sensor, the OTOS will return the position of the robot. More...

sfTkError_t	getPosition (sfe_otos_pose2d_t &pose)
	Gets the position measured by the OTOS. More...

sfTkError_t	setPosition (sfe_otos_pose2d_t &pose)
	Sets the position measured by the OTOS. This is useful if your robot does not start at the origin, or you have another source of location information (eg. vision odometry); the OTOS will continue tracking from this position. More...

sfTkError_t	getVelocity (sfe_otos_pose2d_t &pose)
	Gets the velocity measured by the OTOS. More...

sfTkError_t	getAcceleration (sfe_otos_pose2d_t &pose)
	Gets the acceleration measured by the OTOS. More...

sfTkError_t	getPositionStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured position. More...

sfTkError_t	getVelocityStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured velocity. More...

sfTkError_t	getAccelerationStdDev (sfe_otos_pose2d_t &pose)
	Gets the standard deviation of the measured acceleration. More...

sfTkError_t	getPosVelAcc (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc)
	Gets the position, velocity, and acceleration measured by the OTOS in a single burst read. More...

sfTkError_t	getPosVelAccStdDev (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc)
	Gets the standard deviation of the measured position, velocity, and acceleration in a single burst read. More...

sfTkError_t	getPosVelAccAndStdDev (sfe_otos_pose2d_t &pos, sfe_otos_pose2d_t &vel, sfe_otos_pose2d_t &acc, sfe_otos_pose2d_t &posStdDev, sfe_otos_pose2d_t &velStdDev, sfe_otos_pose2d_t &accStdDev)
	Gets the position, velocity, acceleration, and standard deviation of each in a single burst read. More...

Static Public Attributes
static constexpr uint8_t	kDefaultAddress = 0x17
	Default I2C addresses of the Qwiic OTOS. More...

static constexpr float	kMinScalar = 0.872f
	Minimum scalar value for the linear and angular scalars. More...

static constexpr float	kMaxScalar = 1.127f
	Maximum scalar value for the linear and angular scalars. More...

Protected Member Functions
void	delayMs (uint32_t ms)

sfTkError_t	readPoseRegs (uint8_t reg, sfe_otos_pose2d_t &pose, float rawToXY, float rawToH)

sfTkError_t	writePoseRegs (uint8_t reg, sfe_otos_pose2d_t &pose, float xyToRaw, float hToRaw)

void	regsToPose (uint8_t *rawData, sfe_otos_pose2d_t &pose, float rawToXY, float rawToH)

void	poseToRegs (uint8_t *rawData, sfe_otos_pose2d_t &pose, float xyToRaw, float hToRaw)

Protected Attributes
sfTkII2C *	_commBus

sfe_otos_linear_unit_t	_linearUnit

sfe_otos_angular_unit_t	_angularUnit

float	_meterToUnit

float	_radToUnit

Static Protected Attributes
static constexpr uint8_t	kRegProductId = 0x00

static constexpr uint8_t	kRegHwVersion = 0x01

static constexpr uint8_t	kRegFwVersion = 0x02

static constexpr uint8_t	kRegScalarLinear = 0x04

static constexpr uint8_t	kRegScalarAngular = 0x05

static constexpr uint8_t	kRegImuCalib = 0x06

static constexpr uint8_t	kRegReset = 0x07

static constexpr uint8_t	kRegSignalProcess = 0x0E

static constexpr uint8_t	kRegSelfTest = 0x0F

static constexpr uint8_t	kRegOffXL = 0x10

static constexpr uint8_t	kRegOffXH = 0x11

static constexpr uint8_t	kRegOffYL = 0x12

static constexpr uint8_t	kRegOffYH = 0x13

static constexpr uint8_t	kRegOffHL = 0x14

static constexpr uint8_t	kRegOffHH = 0x15

static constexpr uint8_t	kRegStatus = 0x1F

static constexpr uint8_t	kRegPosXL = 0x20

static constexpr uint8_t	kRegPosXH = 0x21

static constexpr uint8_t	kRegPosYL = 0x22

static constexpr uint8_t	kRegPosYH = 0x23

static constexpr uint8_t	kRegPosHL = 0x24

static constexpr uint8_t	kRegPosHH = 0x25

static constexpr uint8_t	kRegVelXL = 0x26

static constexpr uint8_t	kRegVelXH = 0x27

static constexpr uint8_t	kRegVelYL = 0x28

static constexpr uint8_t	kRegVelYH = 0x29

static constexpr uint8_t	kRegVelHL = 0x2A

static constexpr uint8_t	kRegVelHH = 0x2B

static constexpr uint8_t	kRegAccXL = 0x2C

static constexpr uint8_t	kRegAccXH = 0x2D

static constexpr uint8_t	kRegAccYL = 0x2E

static constexpr uint8_t	kRegAccYH = 0x2F

static constexpr uint8_t	kRegAccHL = 0x30

static constexpr uint8_t	kRegAccHH = 0x31

static constexpr uint8_t	kRegPosStdXL = 0x32

static constexpr uint8_t	kRegPosStdXH = 0x33

static constexpr uint8_t	kRegPosStdYL = 0x34

static constexpr uint8_t	kRegPosStdYH = 0x35

static constexpr uint8_t	kRegPosStdHL = 0x36

static constexpr uint8_t	kRegPosStdHH = 0x37

static constexpr uint8_t	kRegVelStdXL = 0x38

static constexpr uint8_t	kRegVelStdXH = 0x39

static constexpr uint8_t	kRegVelStdYL = 0x3A

static constexpr uint8_t	kRegVelStdYH = 0x3B

static constexpr uint8_t	kRegVelStdHL = 0x3C

static constexpr uint8_t	kRegVelStdHH = 0x3D

static constexpr uint8_t	kRegAccStdXL = 0x3E

static constexpr uint8_t	kRegAccStdXH = 0x3F

static constexpr uint8_t	kRegAccStdYL = 0x40

static constexpr uint8_t	kRegAccStdYH = 0x41

static constexpr uint8_t	kRegAccStdHL = 0x42

static constexpr uint8_t	kRegAccStdHH = 0x43

static constexpr uint8_t	kProductId = 0x5F

static constexpr float	kMeterToInch = 39.37f

static constexpr float	kInchToMeter = 1.0f / kMeterToInch

static constexpr float	kRadianToDegree = 180.0f / M_PI

static constexpr float	kDegreeToRadian = M_PI / 180.0f

static constexpr float	kMeterToInt16 = 32768.0f / 10.0f

static constexpr float	kInt16ToMeter = 1.0f / kMeterToInt16

static constexpr float	kMpsToInt16 = 32768.0f / 5.0f

static constexpr float	kInt16ToMps = 1.0f / kMpsToInt16

static constexpr float	kMpssToInt16 = 32768.0f / (16.0f * 9.80665f)

static constexpr float	kInt16ToMpss = 1.0f / kMpssToInt16

static constexpr float	kRadToInt16 = 32768.0f / M_PI

static constexpr float	kInt16ToRad = 1.0f / kRadToInt16

static constexpr float	kRpsToInt16 = 32768.0f / (2000.0f * kDegreeToRadian)

static constexpr float	kInt16ToRps = 1.0f / kRpsToInt16

static constexpr float	kRpssToInt16 = 32768.0f / (M_PI * 1000.0f)

static constexpr float	kInt16ToRpss = 1.0f / kRpssToInt16

Detailed Description

Arduino class for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS)

Member Function Documentation

◆ begin() [1/2]

sfTkError_t sfDevOTOS::begin ( sfTkII2C * commBus = nullptr )

inherited

Begins the Qwiic OTOS and verifies it is connected.

Parameters

commBus I2C bus to use for communication

Returns: 0 for succuss, negative for errors, positive for warnings

◆ begin() [2/2]

bool QwiicOTOS::begin ( TwoWire & wirePort = Wire )

inline

Begins the Qwiic OTOS and verifies it is connected.

Parameters

wirePort Wire port to use for I2C communication

Returns: True if successful, false otherwise

◆ calibrateImu()

sfTkError_t sfDevOTOS::calibrateImu	(	uint8_t	numSamples = `255`,
		bool	waitUntilDone = `true`
	)

inherited

Calibrates the IMU on the OTOS, which removes the accelerometer and gyroscope offsets.

Parameters

numSamples	Number of samples to take for calibration. Each sample takes about 2.4ms, so fewer samples can be taken for faster calibration
waitUntilDone	Whether to wait until the calibration is complete. Set false to calibrate asynchronously, see getImuCalibrationProgress()

Returns: 0 for succuss, negative for errors, positive for warnings

◆ delayMs()

void QwiicOTOS::delayMs ( uint32_t ms )

inlineprotectedvirtual

Implements sfDevOTOS.

◆ getAcceleration()

sfTkError_t sfDevOTOS::getAcceleration ( sfe_otos_pose2d_t & pose )

inherited

Gets the acceleration measured by the OTOS.

Parameters

pose	Acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getAccelerationStdDev()

sfTkError_t sfDevOTOS::getAccelerationStdDev ( sfe_otos_pose2d_t & pose )

inherited

Gets the standard deviation of the measured acceleration.

Parameters

pose	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getAngularScalar()

sfTkError_t sfDevOTOS::getAngularScalar ( float & scalar )

inherited

Gets the angular scalar used by the OTOS.

Parameters

scalar Angular scalar

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getAngularUnit()

sfe_otos_angular_unit_t sfDevOTOS::getAngularUnit ( )

inherited

Gets the angular unit used by all methods using a pose.

Returns: Angular unit

◆ getImuCalibrationProgress()

sfTkError_t sfDevOTOS::getImuCalibrationProgress ( uint8_t & numSamples )

inherited

Gets the progress of the IMU calibration. Used for asynchronous calibration with calibrateImu()

Parameters

numSamples Number of samples remaining for calibration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getLinearScalar()

sfTkError_t sfDevOTOS::getLinearScalar ( float & scalar )

inherited

Gets the linear scalar used by the OTOS.

Parameters

scalar Linear scalar

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getLinearUnit()

sfe_otos_linear_unit_t sfDevOTOS::getLinearUnit ( )

inherited

Gets the linear unit used by all methods using a pose.

Returns: Linear unit

◆ getOffset()

sfTkError_t sfDevOTOS::getOffset ( sfe_otos_pose2d_t & pose )

inherited

Gets the offset of the OTOS.

Parameters

pose	Offset of the sensor relative to the center of the robot

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosition()

sfTkError_t sfDevOTOS::getPosition ( sfe_otos_pose2d_t & pose )

inherited

Gets the position measured by the OTOS.

Parameters

pose	Position measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPositionStdDev()

sfTkError_t sfDevOTOS::getPositionStdDev ( sfe_otos_pose2d_t & pose )

inherited

Gets the standard deviation of the measured position.

Parameters

pose	Standard deviation of the position measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getPosVelAcc()

sfTkError_t sfDevOTOS::getPosVelAcc	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc
	)

inherited

Gets the position, velocity, and acceleration measured by the OTOS in a single burst read.

Parameters

pos	Position measured by the OTOS
vel	Velocity measured by the OTOS
acc	Acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosVelAccAndStdDev()

sfTkError_t sfDevOTOS::getPosVelAccAndStdDev	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc,
		sfe_otos_pose2d_t &	posStdDev,
		sfe_otos_pose2d_t &	velStdDev,
		sfe_otos_pose2d_t &	accStdDev
	)

inherited

Gets the position, velocity, acceleration, and standard deviation of each in a single burst read.

Parameters

pos	Position measured by the OTOS
vel	Velocity measured by the OTOS
acc	Acceleration measured by the OTOS
posStdDev	Standard deviation of the position measured by the OTOS
velStdDev	Standard deviation of the velocity measured by the OTOS
accStdDev	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getPosVelAccStdDev()

sfTkError_t sfDevOTOS::getPosVelAccStdDev	(	sfe_otos_pose2d_t &	pos,
		sfe_otos_pose2d_t &	vel,
		sfe_otos_pose2d_t &	acc
	)

inherited

Gets the standard deviation of the measured position, velocity, and acceleration in a single burst read.

Parameters

pos	Standard deviation of the position measured by the OTOS
vel	Standard deviation of the velocity measured by the OTOS
acc	Standard deviation of the acceleration measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getSignalProcessConfig()

sfTkError_t sfDevOTOS::getSignalProcessConfig ( sfe_otos_signal_process_config_t & config )

inherited

Gets the signal processing configuration from the OTOS.

Parameters

config Signal processing configuration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getStatus()

sfTkError_t sfDevOTOS::getStatus ( sfe_otos_status_t & status )

inherited

Gets the status register from the OTOS, which includes warnings and errors reported by the sensor.

Parameters

status Status register value

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getVelocity()

sfTkError_t sfDevOTOS::getVelocity ( sfe_otos_pose2d_t & pose )

inherited

Gets the velocity measured by the OTOS.

Parameters

pose	Velocity measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

◆ getVelocityStdDev()

sfTkError_t sfDevOTOS::getVelocityStdDev ( sfe_otos_pose2d_t & pose )

inherited

Gets the standard deviation of the measured velocity.

Parameters

pose	Standard deviation of the velocity measured by the OTOS

Returns: 0 for succuss, negative for errors, positive for warnings

Note: These values are just the square root of the diagonal elements of the covariance matrices of the Kalman filters used in the firmware, so they are just statistical quantities and do not represent actual error!

◆ getVersionInfo()

sfTkError_t sfDevOTOS::getVersionInfo	(	sfe_otos_version_t &	hwVersion,
		sfe_otos_version_t &	fwVersion
	)

inherited

Gets the hardware and firmware version numbers from the OTOS.

Parameters

hwVersion	Hardware version number
fwVersion	Firmware version number

Returns: 0 for succuss, negative for errors, positive for warnings

◆ isConnected()

sfTkError_t sfDevOTOS::isConnected ( )

inherited

Checks if the device is connected.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ poseToRegs()

void sfDevOTOS::poseToRegs	(	uint8_t *	rawData,
		sfe_otos_pose2d_t &	pose,
		float	xyToRaw,
		float	hToRaw
	)

protectedinherited

◆ readPoseRegs()

sfTkError_t sfDevOTOS::readPoseRegs	(	uint8_t	reg,
		sfe_otos_pose2d_t &	pose,
		float	rawToXY,
		float	rawToH
	)

protectedinherited

◆ regsToPose()

void sfDevOTOS::regsToPose	(	uint8_t *	rawData,
		sfe_otos_pose2d_t &	pose,
		float	rawToXY,
		float	rawToH
	)

protectedinherited

◆ resetTracking()

sfTkError_t sfDevOTOS::resetTracking ( )

inherited

Resets the tracking algorithm, which resets the position to the origin, but can also be used to recover from some rare tracking errors.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ selfTest()

sfTkError_t sfDevOTOS::selfTest ( )

inherited

Performs a self test of the OTOS.

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setAngularScalar()

sfTkError_t sfDevOTOS::setAngularScalar ( float scalar )

inherited

Sets the angular scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements.

Parameters

scalar Angular scalar, must be between 0.872 and 1.127

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setAngularUnit()

void sfDevOTOS::setAngularUnit ( sfe_otos_angular_unit_t unit )

inherited

Sets the angular unit used by all methods using a pose.

Parameters

unit	Angular unit

◆ setLinearScalar()

sfTkError_t sfDevOTOS::setLinearScalar ( float scalar )

inherited

Sets the linear scalar used by the OTOS. Can be used to compensate for scaling issues with the sensor measurements.

Parameters

scalar Linear scalar, must be between 0.872 and 1.127

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setLinearUnit()

void sfDevOTOS::setLinearUnit ( sfe_otos_linear_unit_t unit )

inherited

Sets the linear unit used by all methods using a pose.

Parameters

unit	Linear unit

◆ setOffset()

sfTkError_t sfDevOTOS::setOffset ( sfe_otos_pose2d_t & pose )

inherited

Sets the offset of the OTOS. This is useful if your sensor is mounted off-center from a robot. Rather than returning the position of the sensor, the OTOS will return the position of the robot.

Parameters

pose	Offset of the sensor relative to the center of the robot

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setPosition()

sfTkError_t sfDevOTOS::setPosition ( sfe_otos_pose2d_t & pose )

inherited

Sets the position measured by the OTOS. This is useful if your robot does not start at the origin, or you have another source of location information (eg. vision odometry); the OTOS will continue tracking from this position.

Parameters

pose	New position for the OTOS to track from

Returns: 0 for succuss, negative for errors, positive for warnings

◆ setSignalProcessConfig()

sfTkError_t sfDevOTOS::setSignalProcessConfig ( sfe_otos_signal_process_config_t & config )

inherited

Sets the signal processing configuration on the OTOS. This is primarily useful for creating and testing a new lookup table calibration.

Parameters

config Signal processing configuration

Returns: 0 for succuss, negative for errors, positive for warnings

◆ writePoseRegs()

sfTkError_t sfDevOTOS::writePoseRegs	(	uint8_t	reg,
		sfe_otos_pose2d_t &	pose,
		float	xyToRaw,
		float	hToRaw
	)

protectedinherited

Member Data Documentation

◆ _angularUnit

sfe_otos_angular_unit_t sfDevOTOS::_angularUnit

protectedinherited

◆ _commBus

sfTkII2C* sfDevOTOS::_commBus

protectedinherited

◆ _linearUnit

sfe_otos_linear_unit_t sfDevOTOS::_linearUnit

protectedinherited

◆ _meterToUnit

float sfDevOTOS::_meterToUnit

protectedinherited

◆ _radToUnit

float sfDevOTOS::_radToUnit

protectedinherited

◆ kDefaultAddress

constexpr uint8_t sfDevOTOS::kDefaultAddress = 0x17

staticconstexprinherited

Default I2C addresses of the Qwiic OTOS.

◆ kDegreeToRadian

constexpr float sfDevOTOS::kDegreeToRadian = M_PI / 180.0f

staticconstexprprotectedinherited

◆ kInchToMeter

constexpr float sfDevOTOS::kInchToMeter = 1.0f / kMeterToInch

staticconstexprprotectedinherited

◆ kInt16ToMeter

constexpr float sfDevOTOS::kInt16ToMeter = 1.0f / kMeterToInt16

staticconstexprprotectedinherited

◆ kInt16ToMps

constexpr float sfDevOTOS::kInt16ToMps = 1.0f / kMpsToInt16

staticconstexprprotectedinherited

◆ kInt16ToMpss

constexpr float sfDevOTOS::kInt16ToMpss = 1.0f / kMpssToInt16

staticconstexprprotectedinherited

◆ kInt16ToRad

constexpr float sfDevOTOS::kInt16ToRad = 1.0f / kRadToInt16

staticconstexprprotectedinherited

◆ kInt16ToRps

constexpr float sfDevOTOS::kInt16ToRps = 1.0f / kRpsToInt16

staticconstexprprotectedinherited

◆ kInt16ToRpss

constexpr float sfDevOTOS::kInt16ToRpss = 1.0f / kRpssToInt16

staticconstexprprotectedinherited

◆ kMaxScalar

constexpr float sfDevOTOS::kMaxScalar = 1.127f

staticconstexprinherited

Maximum scalar value for the linear and angular scalars.

◆ kMeterToInch

constexpr float sfDevOTOS::kMeterToInch = 39.37f

staticconstexprprotectedinherited

◆ kMeterToInt16

constexpr float sfDevOTOS::kMeterToInt16 = 32768.0f / 10.0f

staticconstexprprotectedinherited

◆ kMinScalar

constexpr float sfDevOTOS::kMinScalar = 0.872f

staticconstexprinherited

Minimum scalar value for the linear and angular scalars.

◆ kMpssToInt16

constexpr float sfDevOTOS::kMpssToInt16 = 32768.0f / (16.0f * 9.80665f)

staticconstexprprotectedinherited

◆ kMpsToInt16

constexpr float sfDevOTOS::kMpsToInt16 = 32768.0f / 5.0f

staticconstexprprotectedinherited

◆ kProductId

constexpr uint8_t sfDevOTOS::kProductId = 0x5F

staticconstexprprotectedinherited

◆ kRadianToDegree

constexpr float sfDevOTOS::kRadianToDegree = 180.0f / M_PI

staticconstexprprotectedinherited

◆ kRadToInt16

constexpr float sfDevOTOS::kRadToInt16 = 32768.0f / M_PI

staticconstexprprotectedinherited

◆ kRegAccHH

constexpr uint8_t sfDevOTOS::kRegAccHH = 0x31

staticconstexprprotectedinherited

◆ kRegAccHL

constexpr uint8_t sfDevOTOS::kRegAccHL = 0x30

staticconstexprprotectedinherited

◆ kRegAccStdHH

constexpr uint8_t sfDevOTOS::kRegAccStdHH = 0x43

staticconstexprprotectedinherited

◆ kRegAccStdHL

constexpr uint8_t sfDevOTOS::kRegAccStdHL = 0x42

staticconstexprprotectedinherited

◆ kRegAccStdXH

constexpr uint8_t sfDevOTOS::kRegAccStdXH = 0x3F

staticconstexprprotectedinherited

◆ kRegAccStdXL

constexpr uint8_t sfDevOTOS::kRegAccStdXL = 0x3E

staticconstexprprotectedinherited

◆ kRegAccStdYH

constexpr uint8_t sfDevOTOS::kRegAccStdYH = 0x41

staticconstexprprotectedinherited

◆ kRegAccStdYL

constexpr uint8_t sfDevOTOS::kRegAccStdYL = 0x40

staticconstexprprotectedinherited

◆ kRegAccXH

constexpr uint8_t sfDevOTOS::kRegAccXH = 0x2D

staticconstexprprotectedinherited

◆ kRegAccXL

constexpr uint8_t sfDevOTOS::kRegAccXL = 0x2C

staticconstexprprotectedinherited

◆ kRegAccYH

constexpr uint8_t sfDevOTOS::kRegAccYH = 0x2F

staticconstexprprotectedinherited

◆ kRegAccYL

constexpr uint8_t sfDevOTOS::kRegAccYL = 0x2E

staticconstexprprotectedinherited

◆ kRegFwVersion

constexpr uint8_t sfDevOTOS::kRegFwVersion = 0x02

staticconstexprprotectedinherited

◆ kRegHwVersion

constexpr uint8_t sfDevOTOS::kRegHwVersion = 0x01

staticconstexprprotectedinherited

◆ kRegImuCalib

constexpr uint8_t sfDevOTOS::kRegImuCalib = 0x06

staticconstexprprotectedinherited

◆ kRegOffHH

constexpr uint8_t sfDevOTOS::kRegOffHH = 0x15

staticconstexprprotectedinherited

◆ kRegOffHL

constexpr uint8_t sfDevOTOS::kRegOffHL = 0x14

staticconstexprprotectedinherited

◆ kRegOffXH

constexpr uint8_t sfDevOTOS::kRegOffXH = 0x11

staticconstexprprotectedinherited

◆ kRegOffXL

constexpr uint8_t sfDevOTOS::kRegOffXL = 0x10

staticconstexprprotectedinherited

◆ kRegOffYH

constexpr uint8_t sfDevOTOS::kRegOffYH = 0x13

staticconstexprprotectedinherited

◆ kRegOffYL

constexpr uint8_t sfDevOTOS::kRegOffYL = 0x12

staticconstexprprotectedinherited

◆ kRegPosHH

constexpr uint8_t sfDevOTOS::kRegPosHH = 0x25

staticconstexprprotectedinherited

◆ kRegPosHL

constexpr uint8_t sfDevOTOS::kRegPosHL = 0x24

staticconstexprprotectedinherited

◆ kRegPosStdHH

constexpr uint8_t sfDevOTOS::kRegPosStdHH = 0x37

staticconstexprprotectedinherited

◆ kRegPosStdHL

constexpr uint8_t sfDevOTOS::kRegPosStdHL = 0x36

staticconstexprprotectedinherited

◆ kRegPosStdXH

constexpr uint8_t sfDevOTOS::kRegPosStdXH = 0x33

staticconstexprprotectedinherited

◆ kRegPosStdXL

constexpr uint8_t sfDevOTOS::kRegPosStdXL = 0x32

staticconstexprprotectedinherited

◆ kRegPosStdYH

constexpr uint8_t sfDevOTOS::kRegPosStdYH = 0x35

staticconstexprprotectedinherited

◆ kRegPosStdYL

constexpr uint8_t sfDevOTOS::kRegPosStdYL = 0x34

staticconstexprprotectedinherited

◆ kRegPosXH

constexpr uint8_t sfDevOTOS::kRegPosXH = 0x21

staticconstexprprotectedinherited

◆ kRegPosXL

constexpr uint8_t sfDevOTOS::kRegPosXL = 0x20

staticconstexprprotectedinherited

◆ kRegPosYH

constexpr uint8_t sfDevOTOS::kRegPosYH = 0x23

staticconstexprprotectedinherited

◆ kRegPosYL

constexpr uint8_t sfDevOTOS::kRegPosYL = 0x22

staticconstexprprotectedinherited

◆ kRegProductId

constexpr uint8_t sfDevOTOS::kRegProductId = 0x00

staticconstexprprotectedinherited

◆ kRegReset

constexpr uint8_t sfDevOTOS::kRegReset = 0x07

staticconstexprprotectedinherited

◆ kRegScalarAngular

constexpr uint8_t sfDevOTOS::kRegScalarAngular = 0x05

staticconstexprprotectedinherited

◆ kRegScalarLinear

constexpr uint8_t sfDevOTOS::kRegScalarLinear = 0x04

staticconstexprprotectedinherited

◆ kRegSelfTest

constexpr uint8_t sfDevOTOS::kRegSelfTest = 0x0F

staticconstexprprotectedinherited

◆ kRegSignalProcess

constexpr uint8_t sfDevOTOS::kRegSignalProcess = 0x0E

staticconstexprprotectedinherited

◆ kRegStatus

constexpr uint8_t sfDevOTOS::kRegStatus = 0x1F

staticconstexprprotectedinherited

◆ kRegVelHH

constexpr uint8_t sfDevOTOS::kRegVelHH = 0x2B

staticconstexprprotectedinherited

◆ kRegVelHL

constexpr uint8_t sfDevOTOS::kRegVelHL = 0x2A

staticconstexprprotectedinherited

◆ kRegVelStdHH

constexpr uint8_t sfDevOTOS::kRegVelStdHH = 0x3D

staticconstexprprotectedinherited

◆ kRegVelStdHL

constexpr uint8_t sfDevOTOS::kRegVelStdHL = 0x3C

staticconstexprprotectedinherited

◆ kRegVelStdXH

constexpr uint8_t sfDevOTOS::kRegVelStdXH = 0x39

staticconstexprprotectedinherited

◆ kRegVelStdXL

constexpr uint8_t sfDevOTOS::kRegVelStdXL = 0x38

staticconstexprprotectedinherited

◆ kRegVelStdYH

constexpr uint8_t sfDevOTOS::kRegVelStdYH = 0x3B

staticconstexprprotectedinherited

◆ kRegVelStdYL

constexpr uint8_t sfDevOTOS::kRegVelStdYL = 0x3A

staticconstexprprotectedinherited

◆ kRegVelXH

constexpr uint8_t sfDevOTOS::kRegVelXH = 0x27

staticconstexprprotectedinherited

◆ kRegVelXL

constexpr uint8_t sfDevOTOS::kRegVelXL = 0x26

staticconstexprprotectedinherited

◆ kRegVelYH

constexpr uint8_t sfDevOTOS::kRegVelYH = 0x29

staticconstexprprotectedinherited

◆ kRegVelYL

constexpr uint8_t sfDevOTOS::kRegVelYL = 0x28

staticconstexprprotectedinherited

◆ kRpssToInt16

constexpr float sfDevOTOS::kRpssToInt16 = 32768.0f / (M_PI * 1000.0f)

staticconstexprprotectedinherited

◆ kRpsToInt16

constexpr float sfDevOTOS::kRpsToInt16 = 32768.0f / (2000.0f * kDegreeToRadian)

staticconstexprprotectedinherited

The documentation for this class was generated from the following file:

src/SparkFun_Qwiic_OTOS_Arduino_Library.h

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ calibrateImu()

◆ delayMs()

◆ getAcceleration()

◆ getAccelerationStdDev()

◆ getAngularScalar()

◆ getAngularUnit()

◆ getImuCalibrationProgress()

◆ getLinearScalar()

◆ getLinearUnit()

◆ getOffset()

◆ getPosition()

◆ getPositionStdDev()

◆ getPosVelAcc()

◆ getPosVelAccAndStdDev()

◆ getPosVelAccStdDev()

◆ getSignalProcessConfig()

◆ getStatus()

◆ getVelocity()

◆ getVelocityStdDev()

◆ getVersionInfo()

◆ isConnected()

◆ poseToRegs()

◆ readPoseRegs()

◆ regsToPose()

◆ resetTracking()

◆ selfTest()

◆ setAngularScalar()

◆ setAngularUnit()

◆ setLinearScalar()

◆ setLinearUnit()

◆ setOffset()

◆ setPosition()

◆ setSignalProcessConfig()

◆ writePoseRegs()

Member Data Documentation

◆ _angularUnit

◆ _commBus

◆ _linearUnit

◆ _meterToUnit

◆ _radToUnit

◆ kDefaultAddress

◆ kDegreeToRadian

◆ kInchToMeter

◆ kInt16ToMeter

◆ kInt16ToMps

◆ kInt16ToMpss

◆ kInt16ToRad

◆ kInt16ToRps

◆ kInt16ToRpss

◆ kMaxScalar

◆ kMeterToInch

◆ kMeterToInt16

◆ kMinScalar

◆ kMpssToInt16

◆ kMpsToInt16

◆ kProductId

◆ kRadianToDegree

◆ kRadToInt16

◆ kRegAccHH

◆ kRegAccHL

◆ kRegAccStdHH

◆ kRegAccStdHL

◆ kRegAccStdXH

◆ kRegAccStdXL

◆ kRegAccStdYH

◆ kRegAccStdYL

◆ kRegAccXH

◆ kRegAccXL

◆ kRegAccYH

◆ kRegAccYL

◆ kRegFwVersion