# SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (Qwiic)

**Type:** Product page · **SKU:** SEN-24904 · **Brand:** [Sparkfun](https://core-electronics.com.au/brands/sparkfun-australia)
**Page:** https://core-electronics.com.au/sparkfun-optical-tracking-odometry-sensor-paa5160e1-qwiic.html ([markdown](https://core-electronics.com.au/sparkfun-optical-tracking-odometry-sensor-paa5160e1-qwiic.html.md))

The SparkFun Qwiic Optical Tracking Odometry Sensor empowers you to elevate a robot's navigation capabilities with precision and streamlined integration...

## Pricing

- **Price:** $139.95 (inc GST) — $127.23 AUD, exc GST
- **Quantity discounts:** 5+ $123.41 (exc GST) · 25+ $120.86 (exc GST) · 100+ $115.77 (exc GST)

## Availability & dispatch

- Available with a lead time — expect dispatch between Aug 24 and Aug 31.

## Description

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 boasts a powerful built-in 6-axis Inertial Measurement Unit (IMU) and an onboard microcontroller that performs 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. 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.

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

*The [SparkFun Qwiic Connect System](https://www.sparkfun.com/qwiic) is an ecosystem of I2C sensors, actuators, shields and cables that make prototyping faster and less prone to error. All Qwiic-enabled boards use a common 1mm pitch, 4-pin JST connector. This reduces the amount of required PCB space, and polarized connections mean you can’t hook it up wrong.*

 [Get Started with the SparkFun Qwiic PAA5160E1 Optical Tracking Odometry Sensor Sensor Guide](https://docs.sparkfun.com/SparkFun_Optical_Tracking_Odometry_Sensor)### Features

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
- Frame Rate: 20,000 fps
 
6-DOF IMU Accelerometer:

- ±2/±4/±8/±16 g full scale
- ±125/±250/±500/±1000/±2000 dps full scale
 
### Documents

- [Schematic](https://core-electronics.com.au/attachments/localcontent/24904_SparkFun_Optical_Tracking_Odometry_Sensor_Schematic_149085c4223.pdf)
- [Eagle Files](https://core-electronics.com.au/attachments/localcontent/24904_SparkFun_Optical_Tracking_Odometry_Sensor_EagleFiles_22573bfa3ba.zip)
- [Board Outline](https://core-electronics.com.au/attachments/localcontent/24904_SparkFun_Optical_Tracking_Odometry_Sensor_BoardOutline_32443ae611b.png)
- [Hookup Guide](https://docs.sparkfun.com/SparkFun_Optical_Tracking_Odometry_Sensor)
- [Qwiic Info Page](https://www.sparkfun.com/qwiic)
- [XRP Info Page](https://www.sparkfun.com/xrp)
- [Hardware GitHub Repo](https://github.com/sparkfun/SparkFun_Optical_Tracking_Odometry_Sensor)
- [Register Map](https://core-electronics.com.au/attachments/localcontent/OTOS_Register_Map_25590b660d8.pdf)
 
Software Libraries:

- [Arduino Library GitHub Repo](https://github.com/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library)
- [Python Package GitHub Repo](https://github.com/sparkfun/Qwiic_OTOS_Py)
- [Java Library GitHub Repo](https://github.com/sparkfun/SparkFun_Qwiic_OTOS_FTC_Java_Library)

## Images

- [Product image 1](https://core-electronics.com.au/media/catalog/product/S/E/SEN-24904-1.jpg)