This library is a refactoring of SparkFun_Qwiic_OTOS_Arduino_Library to make the SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (Qwiic) compatible with the Raspberry Pi Pico RP2040 SDK.

This library was designed to work in I2C with the PAA5160E1. By default the i2c0 and the GP4 and GP5 are used in this project.

Raspberry Pi Pico connected using I2C to the PAA5160E1 - Schematic created with Fritzing

By not using Arduino but rather the Raspberry Pi Pico SDK, I set out to port the Arduino library from SparkFun.

The project is structured as follows:

Qwiic_OTOS_Library
├── assets
├── CMakeLists.txt
├── include
│   ├── QwiicOtos.h
│   ├── sfeQwiicOtos.h
│   └── utils.h
├── LICENSE
├── README.md
└── src
    ├── sfeQwiicOtos.cpp
    └── utils.cpp

The specification of Raspberry Pi Pico pins used for I2C, with I2C0 being the default, and the ability to set the I2C baud rate, are defined in utils.h:

Qwiic_OTOS_Library
└── include
    └── utils.h

• piko-sdk

To use this library, clone the repository into your Raspberry Pi Pico RP2040 project directory:

git clone https://github.com/robotcopper/PAA5160E1_Pico_Library.git

Then include it in your project's CMakeLists.txt file:

add_subdirectory(
	Qwiic_OTOS_Library
)

target_link_libraries(main
    Qwiic_OTOS_Library
)

Here's a simple example demonstrating how to use the library to initialize the sensor and read odom data:

#include "QwiicOtos.h"

initI2C(false);
// Calibrate the IMU, which removes the accelerometer and gyroscope offsets
myOtos.calibrateImu();
// Set the desired units meters for linear, and radians for angular.
myOtos.setLinearUnit(kSfeOtosLinearUnitMeters);
myOtos.setAngularUnit(kSfeOtosAngularUnitRadians);
// Reset the tracking algorithm - this resets the position to the origin,
// but can also be used to recover from some rare tracking errors
myOtos.resetTracking();

while (true) {

    sfe_otos_pose2d_t pos;
    myOtos.getPosition(pos);

    printf("x: %.2f m, y: %.2f m, h: %.2f rad \n", pos.x, pos.y, pos.h);

}

Original Developer:

   SparkFun :
     Links :

• Link to SparkFun_Qwiic_OTOS_Arduino_Library GitHub repository: SparkFun_Qwiic_OTOS_Arduino_Library

The modifications made to SparkFun's work are licensed under the BSD 3-Clause License.