Summary
From FW version 2.3.27, Tap allows developers access to raw sensors data stream.
In raw sensors mode, the Tap continuously sends raw data from the following sensors:
Five 3-axis accelerometers (one per each finger).
sampled at 200Hz
allows dynamic range configuration (±2G, ±4G, ±8G, ±16G)
IMU (3-axis accelerometer + gyro) located on the thumb (available with TAP Strap 2 only).
sampled at 208Hz.
allows dynamic range configuration for the accelerometer (±2G, ±4G, ±8G, ±16G) and for the gyro (±125dps, ±250dps, ±500dps, ±1000dps, ±2000dps).
Timestamp synchronisation
Each sample (of accelerometer or IMU) is preambled with a millisecond timestamp, referenced to an internal Tap Strap clock.
Dynamic range configuration
The dynamic range of the sensors is determined by passing a three sensitivity values (by order):
Fingers accelerometers sensitivity -
value | sensitivity | scale factor (mg/LSB) |
|---|---|---|
0 (default) | ±16G | 31.25 |
1 | ±2G | 3.91 |
2 | ±4G | 7.81 |
3 | ±8G | 15.62 |
4 | ±16G | 31.25 |
2. IMU gyro sensitivity -
value | sensitivity | scale factor (dps/LSB) |
|---|---|---|
0 (default) | ±500dps | 17.5 |
1 | ±125dps | 4.375 |
2 | ±250dps | 8.75 |
3 | ±500dps | 17.5 |
4 | ±1000dps | 35 |
5 | ±2000dps | 70 |
3. IMU accelerometer sensitivity -
value | sensitivity | scale factor (mg/LSB) |
|---|---|---|
0 (default) | ±4G | 0.122 |
1 | ±2G | 0.061 |
2 | ±4G | 0.122 |
3 | ±8G | 0.244 |
4 | ±16G | 0.488 |
Inertial coordinate system
The sensors measurements are given with respect to the reference coordinate system below.
