The SparkFun Qwiic Optical Tracking Odometry Sensor empowers you to elevate your robot's navigation capabilities with exceptional precision and streamlined integration. This compact, all-in-one sensor leverages the power of the PAA5160E1 chip from PixArt Imaging Inc., delivering accurate dual-axis motion data across various hard floor surfaces. But that's not all! This sensor features a powerful built-in LSM6DSO 6-axis Inertial Measurement Unit (IMU) and an onboard STM32C0 microcontroller, both from STMicroelectronics, which perform real-time sensor fusion and tracking algorithms.

The Optical Tracking Odometry board measures a mere 1in. by 1in. and boasts a smaller profile than its industry counterparts. Unlike bulkier options that require multiple boards, this sensor features a single-board design with an onboard tracking algorithm. User-friendly Arduino and Python libraries simplify integration, quickly getting you up and running.

The PAA5160E1 chip offers exceptional tracking performance with a typical error rate of 3-5% within a working range of 10mm to 27mm (must be exactly 10mm for FTC field tiles). However, a calibration within the sensor's firmware can significantly reduce this error to under 1% in ideal conditions. This sensor excels at high-speed motion tracking of up to 2.5 meters per second, making it an excellent choice for navigating warehouse robots, commercial robots, and other fast-moving applications.

Thanks to its Qwiic compatibility, the SparkFun sensor integrates seamlessly into your XRP or other robotics projects. This user-friendly interface eliminates complex wiring configurations and simplifies connection to other Qwiic-enabled components. The included Arduino and Python libraries and the onboard tracking algorithm in the firmware streamline the development process, allowing you to focus on creating innovative robot functionalities.

Are you a FIRST Tech Challenge team? This sensor is perfect for you! It's much more compact than odometry wheels and can be positioned anywhere under your robot, making hardware integration significantly easier while offering comparable performance. The sensor must be positioned exactly 10mm from the field tiles for ideal tracking performance. In addition, a Java library is available for ease of use. Make sure you also have the Qwiic to STEMMA Cable to connect your sensor to the control hub.

Note: This is a CLASS 1 LASER PRODUCT CLASSIFIED IEC 60825-1 2014.

Features & Specs:

STM32:

• Arm® 32-bit Cortex®-M0+ CPU, frequency up to 48 MHz
• -40°C to 85°C/105°C/125°C operating temperature
• Up to 32 Kbytes of flash memory with protection
• I2C address: 0x17 (fixed)

Optical Tracking Sensor - PAA5160:

• Tracking Accuracy: 3-5%
• Tracking speed: 2.5m/s
• Working Distance to Tracking Surface: 10-27mm
• Must be exactly 10mm for FTC field tiles
• Frame Rate: 20,000 fps

6-DOF IMU Accelerometer:

• ±2/±4/±8/±16 g full scale
• ±125/±250/±500/±1000/±2000 dps full scale

Documentations:

• Schematic
• Hardware GitHub Repo
• Register Map
• Optical Tracking Sensor - PAA5160 Datasheet
• 6-DoF IMU - LSM6DSO Datasheet
• Microcontroller - STM32C0 Datasheet

Software Libraries:

• Arduino Library GitHub Repo
• Python Package GitHub Repo
• Java Library GitHub Repo

Package Includes:

• 1 x SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (Qwiic)