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Topic: Optical Mouse Sensor varys wildly depending on speed (Read 73 times) previous topic - next topic



I'm trying to use an optical mouse sensor ADNS-9800 to monitor the extrusion rate of clay coming out of a pug mill. I will use this extrusion rate to control the speed of cutting wires that cut custom parametric bricks.

I have the sensor giving me x and y data, which I cumulatively add and then use pythagorean theorem to get a total distance. The problem is that my readings depend heavily on the rate of motion. If I move the sensor 5cm in 1 second, the readings are around 1000 for total distance, but if i move it the same distance in 5 seconds, the reading is around 2500.

this is my code:

Code: [Select]

#include <SPI.h>
#include <avr/pgmspace.h>

// Registers
#define REG_Product_ID                           0x00
#define REG_Revision_ID                          0x01
#define REG_Motion                               0x02
#define REG_Delta_X_L                            0x03
#define REG_Delta_X_H                            0x04
#define REG_Delta_Y_L                            0x05
#define REG_Delta_Y_H                            0x06
#define REG_SQUAL                                0x07
#define REG_Pixel_Sum                            0x08
#define REG_Maximum_Pixel                        0x09
#define REG_Minimum_Pixel                        0x0a
#define REG_Shutter_Lower                        0x0b
#define REG_Shutter_Upper                        0x0c
#define REG_Frame_Period_Lower                   0x0d
#define REG_Frame_Period_Upper                   0x0e
#define REG_Configuration_I                      0x0f
#define REG_Configuration_II                     0x10
#define REG_Frame_Capture                        0x12
#define REG_SROM_Enable                          0x13
#define REG_Run_Downshift                        0x14
#define REG_Rest1_Rate                           0x15
#define REG_Rest1_Downshift                      0x16
#define REG_Rest2_Rate                           0x17
#define REG_Rest2_Downshift                      0x18
#define REG_Rest3_Rate                           0x19
#define REG_Frame_Period_Max_Bound_Lower         0x1a
#define REG_Frame_Period_Max_Bound_Upper         0x1b
#define REG_Frame_Period_Min_Bound_Lower         0x1c
#define REG_Frame_Period_Min_Bound_Upper         0x1d
#define REG_Shutter_Max_Bound_Lower              0x1e
#define REG_Shutter_Max_Bound_Upper              0x1f
#define REG_LASER_CTRL0                          0x20
#define REG_Observation                          0x24
#define REG_Data_Out_Lower                       0x25
#define REG_Data_Out_Upper                       0x26
#define REG_SROM_ID                              0x2a
#define REG_Lift_Detection_Thr                   0x2e
#define REG_Configuration_V                      0x2f
#define REG_Configuration_IV                     0x39
#define REG_Power_Up_Reset                       0x3a
#define REG_Shutdown                             0x3b
#define REG_Inverse_Product_ID                   0x3f
#define REG_Motion_Burst                         0x50
#define REG_SROM_Load_Burst                      0x62
#define REG_Pixel_Burst                          0x64

byte initComplete = 0;
byte testctr = 0;
unsigned long currTime;
unsigned long timer;
unsigned long pollTimer;
volatile int xydat[2];
volatile byte movementflag = 0;
const int ncs = 10;
int long x = 0;
int long y = 0;

extern const unsigned short firmware_length;
extern const unsigned char firmware_data[];

void setup() {

  pinMode (ncs, OUTPUT);

  //attachInterrupt(0, UpdatePointer, FALLING);


  initComplete = 9;


void adns_com_begin() {
  digitalWrite(ncs, LOW);

void adns_com_end() {
  digitalWrite(ncs, HIGH);

byte adns_read_reg(byte reg_addr) {

  // send adress of the register, with MSBit = 0 to indicate it's a read
  SPI.transfer(reg_addr & 0x7f );
  delayMicroseconds(100); // tSRAD
  // read data
  byte data = SPI.transfer(0);

  delayMicroseconds(1); // tSCLK-NCS for read operation is 120ns
  delayMicroseconds(19); //  tSRW/tSRR (=20us) minus tSCLK-NCS

  return data;

void adns_write_reg(byte reg_addr, byte data) {

  //send adress of the register, with MSBit = 1 to indicate it's a write
  SPI.transfer(reg_addr | 0x80 );
  //sent data

  delayMicroseconds(20); // tSCLK-NCS for write operation
  delayMicroseconds(100); // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound

void adns_upload_firmware() {
  // send the firmware to the chip, cf p.18 of the datasheet
  Serial.println("Uploading firmware...");
  // set the configuration_IV register in 3k firmware mode
  adns_write_reg(REG_Configuration_IV, 0x02); // bit 1 = 1 for 3k mode, other bits are reserved

  // write 0x1d in SROM_enable reg for initializing
  adns_write_reg(REG_SROM_Enable, 0x1d);

  // wait for more than one frame period
  delay(10); // assume that the frame rate is as low as 100fps... even if it should never be that low

  // write 0x18 to SROM_enable to start SROM download
  adns_write_reg(REG_SROM_Enable, 0x18);

  // write the SROM file (=firmware data)
  SPI.transfer(REG_SROM_Load_Burst | 0x80); // write burst destination adress

  // send all bytes of the firmware
  unsigned char c;
  for (int i = 0; i < firmware_length; i++) {
    c = (unsigned char)pgm_read_byte(firmware_data + i);

void performStartup(void) {
  adns_com_end(); // ensure that the serial port is reset
  adns_com_begin(); // ensure that the serial port is reset
  adns_com_end(); // ensure that the serial port is reset
  adns_write_reg(REG_Power_Up_Reset, 0x5a); // force reset
  delay(50); // wait for it to reboot
  // read registers 0x02 to 0x06 (and discard the data)
  // upload the firmware
  //enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b)
  // reading the actual value of the register is important because the real
  // default value is different from what is said in the datasheet, and if you
  // change the reserved bytes (like by writing 0x00...) it would not work.
  byte laser_ctrl0 = adns_read_reg(REG_LASER_CTRL0);
  adns_write_reg(REG_LASER_CTRL0, laser_ctrl0 & 0xf0 );


  Serial.println("Optical Chip Initialized");

void UpdatePointer(void) {
  if (initComplete == 9) {

    digitalWrite(ncs, LOW);
    xydat[0] = (int)adns_read_reg(REG_Delta_X_L);
    xydat[1] = (int)adns_read_reg(REG_Delta_Y_L);
    digitalWrite(ncs, HIGH);


void dispRegisters(void) {
  int oreg[7] = {
    0x00, 0x3F, 0x2A, 0x02
  char* oregname[] = {
    "Product_ID", "Inverse_Product_ID", "SROM_Version", "Motion"
  byte regres;

  digitalWrite(ncs, LOW);

  int rctr = 0;
  for (rctr = 0; rctr < 4; rctr++) {
    Serial.println(oreg[rctr], HEX);
    regres = SPI.transfer(0);
    Serial.println(regres, BIN);
    Serial.println(regres, HEX);
  digitalWrite(ncs, HIGH);

int convTwosComp(int b) {
  //Convert from 2's complement
  if (b & 0x80) {
    b = -1 * ((b ^ 0xff) + 1);
  return b;

void loop() {

  currTime = millis();

  if (currTime > timer) {
    timer = currTime + 5000;
    x = 0;
    y = 0;

  if (currTime > pollTimer) {
    xydat[0] = convTwosComp(xydat[0]);
    xydat[1] = convTwosComp(xydat[1]);
    if (xydat[0] != 0 || xydat[1] != 0) {
      x = x + abs(xydat[0]);
      y = y + abs(xydat[1]);
      float Zpos = sqrt(x * x + y * y);
      Serial.print("x = ");
      Serial.print(" | ");
      Serial.print("y = ");
      Serial.print(" | ");
      Serial.print("dist = ");
    pollTimer = currTime + 1;

Is there something in the code that could be causing this, or is it an inherent problem with optical mouse sensors?



Serial.print is very slow. Trying increasing the baud rate.


In a quick scan of the data sheet, I didn't see much, but this one line up at the top made me suspicious where it says "High   speed   motion   detection   up   to   150   ips   and   acceleration up to 30 g"  - typically, acceleration, on things I have seen are used to modify the "motion" where moving it fast gives what you were seeing with a larger number of counts.
-- you can't have too many gadgets or too much disk space !
old engineering saying: 1+1 = 3 for sufficiently large values of 1 or small values of 3


typically, acceleration, on things I have seen are used to modify the "motion" where moving it fast gives what you were seeing with a larger number of counts.
It is actually the inverse, fast motion results in lower count.

Serial.print is very slow. Trying increasing the baud rate.
I will try this, see how it goes... ultimately, I won't need a serial print at all, I'm just using it to test the code.

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