Does the ToF sensor output a single number, or can we access the whole data output from the sensor? Or to put it differently: Can we access the 8x8 multizone matrix and the matrix of the perpendicular zones, or only the extracted distance?

[Esben Skipper]

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[John E KVAM]

when you range, you can get up to 6000 bytes of information it you want it all. You the the range per zone, the signal strength, a status, some ambient, and you get that for each of up to 4 target per zone.

So at 8x8 x 4 targets all that data adds up.

Look into the platform.h file, there is the number of targets - default to 1. And a host of thing you can disable by uncommenting them.

But you get a lot of data.

Check the number of targets in the zone, then check the status of the target. If you have a target and the status is 5 (6- only occurs on the first range) 9 and sometimes 12 then you know you have something.

BTW, we do the radial to perpenducular conversion for you. When you point the sensor perpendicular to a wall, you will get 64 zones of the same distance. (+/- a few mm)

[Esben Skipper]

Thank you for your answer! That sounds really interesting. I will look into the platform.h file. Your ToF sensors looks really promising, especially the VL53L8CX!