sfDevOTOS.h File Reference

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

#include <math.h>
#include <stdint.h>
#include <sfTk/sfToolkit.h>
#include <sfTk/sfTkII2C.h>

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Classes
struct	sfe_otos_pose2d_t
	2D pose structure, including x and y coordinates and heading angle More...
union	sfe_otos_version_t
	Version register bit fields. More...
union	sfe_otos_signal_process_config_t
	Signal process config register bit fields. More...
union	sfe_otos_self_test_config_t
	Self test register bit fields. More...
union	sfe_otos_status_t
	Status register bit fields. More...
class	sfDevOTOS
	Class for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS). Includes methods to communicate with the sensor, such as getting the tracked location, configuring the sensor, etc. This class is a base class that must be derived to implement the delay function and I2C communication bus. More...

Enumerations
enum	sfe_otos_linear_unit_t { kSfeOtosLinearUnitMeters = 0 , kSfeOtosLinearUnitInches = 1 }
	Enumerations for linear units used by the OTOS driver. More...
enum	sfe_otos_angular_unit_t { kSfeOtosAngularUnitRadians = 0 , kSfeOtosAngularUnitDegrees = 1 }
	Enumerations for angular units used by the OTOS driver. More...

Detailed Description

Driver for the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS)

This file implements a C++ driver class for interfacing with the OTOS sensor. The driver uses the SparkFun Toolkit library for I2C communication, making it platform agnostic.

Features:

• 2D pose tracking (position, velocity, acceleration)
• Configurable linear and angular units
• Built-in calibration and self-test functions
• Adjustable signal processing parameters
• Support for sensor offset compensation
• Standard deviation measurements for tracking accuracy

Author

SparkFun Electronics

Date

February 2024

Copyright

Copyright (c) 2024-2025, SparkFun Electronics Inc. This project is released under the MIT License.

SPDX-License-Identifier: MIT

See also

https://github.com/sparkfun/SparkFun_Toolkit

Enumeration Type Documentation

sfe_otos_angular_unit_t

enum sfe_otos_angular_unit_t

Enumerations for angular units used by the OTOS driver.

Enumerator
kSfeOtosAngularUnitRadians	Radians.
kSfeOtosAngularUnitDegrees	Degrees (default)

sfe_otos_linear_unit_t

enum sfe_otos_linear_unit_t

Enumerations for linear units used by the OTOS driver.

Enumerator
kSfeOtosLinearUnitMeters	Meters.
kSfeOtosLinearUnitInches	Inches (default)