Product Specifications

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Copyright©Terabee2016
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** Remember to execute the daemon roscore before running the rosrun command and change the USB port to the appropriate                   
one.
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5 Protocol description
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The TeraRanger One can be read out and controlled via either UART or I2C. Even though               
both interfaces are activated in parallel, we recommend the use of only one interface at a               
time. Usage in parallel can lead to erroneous behaviour and is not supported by us. If you                
want to switch from one interface to the other, please power cycle the sensor in between the                
switch.
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5.1 UART interface
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The UART is configured to send and receive at 115200 bit/s, 8 data bits, no parity bit and                 
one stop bit (1152008N1). Please consult section 2 to see how you can connect the              
TeraRangerOnetoyourPCrunningWindows,LinuxorMacOS.
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UARTcommandsandoutputformat
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InallUARTmodes,thesensorisfreerunning,thatmeansyoudonotneedtosendanything
tostartameasurement.Onceameasurementinthemodeyouselectedisfinished,the
sensorwillsendthedataintheformatyouselectedandimmediatelystartanew
measurement.
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Two operating modes can be selected for either type A and type B sensors by sending the                
correspondinguppercasecharactertotheTeraRangerOneviatheserialport:
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SensortypeA
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P
Precise
mode
The TeraRanger One adapts its internal parameters to provide the best          
available accuracy. This improved accuracy results in a decrease of the          
measurement repetition rates, and therefore in increased reaction times.        
The delay between two measurements is variable and depends on the          
target distance and properties. This mode offers an optimized        
performanceinindoorenvironments.
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 90 Rue Henri Fabre Website:
01630 St. Genis‐Pouilly Technical support:
France (next to CERN) Commercial:
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www.teraranger.com
[e-mail]
[e-mail]
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