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The SparkFun Optical Tracking Odometry Sensor needs to be rigidly mounted to a robot chassis and oriented flat to the floor. We've designed a few 3D printing models you can use, but you may need to design your own mount for this board, depending on your use case. Accurate readings really require that the sensor is mounted correctly; attempting to move the sensor by hand can work, but tracking accuracy will suffer.
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The SparkFun Optical Tracking Odometry Sensor needs to be rigidly mounted to a robot chassis and oriented flat to the floor. If you don't already have a chassis, we've designed a few 3D printing models you can use. That said, you may need to design your own mount for this board, depending on your use case.
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You can access these designs here:
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<center>
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[:octicons-download-16:{ .heart } Download 3D Mounting Designs](./../Hardware/SparkFun_Optical_Tracking_Odometry_Sensor.brd){ .md-button .md-button--primary }
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</center>
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!!! warning
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Accurate readings require that the sensor is mounted correctly; attempting to move the sensor by hand may work, but tracking accuracy will suffer.
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<figuremarkdown>
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!!! attention
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Reminder - make sure you peel off the yellow kapton tape!
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The height that the sensor needs to be mounted will be dependent on the surface being read. Glossy surfaces are ideal; running a calibration will determine the necessary height.
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!!! first-tech "FIRST Tech Challenge"
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[{ align="left" width="100"}](assets/img/FIRSTTech_IconVert_RGB.jpg "Click to enlarge")
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FIRST Tech Challenge: Note here that we are using the foam surface typical of FIRST Tech Challenge competitions and the sensor is mounted at 10mm from the surface.
Copy file name to clipboardExpand all lines: docs/hardware_overview.md
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## STM32CO
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The STM32C011F4U6 microcontroller has a high-performance Arm® Cortex®-M0+ 32-bit RISC core operating at up to 48 MHz frequency. It incorporates a memory protection unit (MPU), high-speed embedded memories (6 Kbytes of SRAM and up to 32 Kbytes of flash program memory with read and write protection), DMA, an extensive range of system functions, enhanced I/Os, and peripherals. The device offers standard communication interfaces (one I2C, one SPI / one I2S, and two USARTs), one 12-bit ADC (2.5 MSps) with up to 15 channels, a low-power RTC, an advanced control PWM timer, four general-purpose 16-bit timers, two watchdog timers, and a SysTick timer. For more information, refer to the [datasheet](assets/documentation/stm32c011d6-3082107.pdf).
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The STM32C011F4U6 microcontroller has a high-performance Arm® Cortex®-M0+ 32-bit RISC core operating at up to 48 MHz frequency. It incorporates a memory protection unit (MPU), high-speed embedded memory (6 Kbytes of SRAM and up to 32 Kbytes of flash program memory with read and write protection), DMA, an extensive range of system functions, enhanced I/Os, and peripherals. The device offers standard communication interfaces (one I<sup>2</sup>C, one SPI / one I2S, and two USARTs), one 12-bit ADC (2.5 MSps) with up to 15 channels, a low-power RTC, an advanced control PWM timer, four general-purpose 16-bit timers, two watchdog timers, and a SysTick timer. For more information, refer to the [datasheet](assets/documentation/stm32c011d6-3082107.pdf).
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<!--
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<figure markdown>
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</figure>
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-->
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!!! attention
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FIRST Tech users should note that for the foam competition files, the sensor really needs to be mounted at exactly 10mm from the surface with a tolerance of +/ 1mm. Beyond that, the tracking is less accurate; beyond +/- 3mm, and it just can't track the foam surface at all really.
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!!! first-tech "FIRST Tech Challenge"
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[{ align="left" width="100"}](assets/img/FIRSTTech_IconVert_RGB.jpg "Click to enlarge")
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FIRST Tech Challenge: Note here that for the foam competition files, the sensor really needs to be mounted at exactly 10mm from the surface with a tolerance of +/ 1mm. Beyond that, the tracking is less accurate; beyond +/- 3mm, and it can't track the foam surface at all.
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## GPIO
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The PTH pins on the side of the board allow you to provide power, access the I<sup>2</sup>C Data and Clock lines, and there are two pins available for UART/generic programming purposes. In normal operation, IO9 acts as a "data ready" interrupt, so a user could use that to synchronize measurements if needed.
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The PTH pins on the side of the board allow you to provide power, access the I<sup>2</sup>C Data and Clock lines, and there are two pins available for UART/generic programming purposes. In normal operation, IO9 acts as a "data ready" interrupt; this pin could be used to synchronize measurements if needed.
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<!--
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<figure markdown>
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The board dimensions are illustrated in the drawing below; the listed measurements are in inches.
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<figuremarkdown>
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[{ width="600" }](assets/board_files/24904_SparkFun_Optical_Tracking_Odometry_Sensor_BoardOutline.png"Click to enlarge")
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[{ width="600" }](assets/board_files/24904_SparkFun_Optical_Tracking_Odometry_Sensor_BoardOutline.png"Click to enlarge")
-The SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (Qwiic) is an all-in-one, Qwiic enabled tracking sensor that allows you to accurately drive your XRP or other robotics with minimal space and setup requirements.
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<center>
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[Purchase from SparkFun :fontawesome-solid-cart-plus:{ .heart }](https://www.sparkfun.com/products/24904){ .md-button .md-button--primary }
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icon: simple/arduino
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## Arduino
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!!! attention
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If this is your first time using Arduino, please review our tutorial on [installing the Arduino IDE](https://learn.sparkfun.com/tutorials/installing-arduino-ide). If you have not previously installed an Arduino library, please check out our [installation guide](https://learn.sparkfun.com/tutorials/installing-an-arduino-library).
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We've written a library to get you started with the SparkFun Optical Tracking Odometry Sensor. You can obtain this library through the Arduino Library Manager by searching for "Odometry" and installing the latest version from SparkFun. If you prefer downloading libraries manually, you can grab them from the GitHub Repository.
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