Tap Strap Raw Sensors Mode
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 (mdps/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.
