Summary of Contents for TeraBee TeraRanger Evo 64px
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User Manual for TeraRanger Evo 64px with: USB and UART backboard Technical support: s upport@teraranger.com Sales and commercial support: t eraranger@terabee.com...
Evo 64px multi-pixel sensor with (a) UART backboard, and/or (b) USB backboard using these standard communication interfaces. 1.1 About TeraRanger Evo 64px TeraRanger Evo64px is the multi-pixel Time-of-Flight sensor of the TeraRanger Evo product family. It provides a matrix of 8x8 distance readings over a 15 degrees FOV, with a maximum range up to 5m.
2 .1 Mechanical design Figure 2. TeraRanger Evo 64px external dimensions 2 .2 Sensor handling during system assembly During assembly and integration, please observe all common ESD precautions. All optical surfaces (sensor front) should be kept clean and free from contact with chemicals.
A free Graphical User Interface (GUI) is available, providing an easy way to visualize the data from your TeraRanger Evo 64px sensor. This is useful for demonstration, testing purposes and checking some of the basic parameters of the sensor. It also provides a way to easily export raw distance data and upgrade the firmware running on the device.
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Figure 3. Windows protection screen during installation After successful installation, make sure your TeraRanger Evo 64px is connected to a USB port on your computer. In the GUI select F ile > Connect (Ctrl+O) . You will immediately see 64 distance readings displayed in a 8x8 pixel color map, labeled Depth Map (Figure 4).
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“Fast” mode and achieve sampling rates as high as 130 frames per second, or select “Close Range” mode for improved minimum range, starting from 10 centimeters. For more information on the TeraRanger Evo 64px’s operating modes please refer to the TeraRanger Evo 64px specification sheet.
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It is possible to upgrade the firmware running on your device if a new firmware version is made available on the Terabee website. T he current firmware version on your TeraRanger Evo can be found by selecting H elp > About in the graphical user interface .
4 .1 UART interface The TeraRanger Evo 64px can be controlled through UART interface. It uses a single 9 pin Hirose DF13 connector for interfacing to the host system. The mating connector is a Hirose DF13-9S-1.25C with crimping contacts DF13-2630SCF (tin) or DF13-2630SCFA (gold).
The user can send commands to configure the sensor to work in a specific mode. The frame of the command is built concatenating 8 bit address of the TeraRanger Evo 64px, 4 bit Command (CMD) code, 4 bit for data count (indicating how many bytes of data will follow), N bytes of the data itself and a CRC-8 (8 bit) checksum of the entire frame in the last byte.
NB: E ach command MUST be transmitted in a continuous stream ie. not byte by byte. The TeraRanger Evo 64px will reply to the above commands with a four byte response. The third byte of the response will contain either an ACK (0x00) or a NACK (0xFF) to indicate if the sensor has acknowledged or not acknowledged the command.
CRC checksum. The python file of this sample code is available for download under “ D ownload ” section of the TeraRanger Evo 64px product page. #!/usr/bin/python # -*- coding: utf-8 -*- numpy ...
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