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GitHub - TouchTronix-Robotics/sensx_python: Python API for TouchTronix SensX M-Series tactile sensors. Streaming driver with CRC validation, 12-bit data parsing, and blocking/callback interfaces.

Python driver for TouchTronix tactile sensors.

Install

cd sensx_python
pip install --upgrade pip setuptools wheel
pip install -e .

Serial Permissions (Linux)

sudo chmod a+rw /dev/ttyUSB0

Run Example

# Print sensor grid (default: 5x5)
python examples/stream_one.py

# Specify sensor size
python examples/stream_one.py --rows 20 --cols 8

# Measure frame rate
python examples/stream_one.py --benchmark

# Hub with two sensors
python examples/stream_hub.py --port /dev/ttyUSB0 --baud 1500000 --rows 16 --cols 12

Supported Sensors

Model Grid Image Example Command
SensX 25 5x5 python examples/stream_one.py --port /dev/ttyUSB0 --baud 921600 --rows 5 --cols 5
SensX 160 20x8 python examples/stream_one.py --port /dev/ttyUSB0 --baud 921600 --rows 20 --cols 8
SensX 187 17x11 python examples/stream_one.py --port /dev/ttyUSB0 --baud 921600 --rows 17 --cols 11
SensX 192 16x12 python examples/stream_one.py --port /dev/ttyUSB0 --baud 1500000 --rows 16 --cols 12
SensX 2x192 2x(16x12) python examples/stream_hub.py --port /dev/ttyUSB0 --baud 1500000 --rows 16 --cols 12
SensX 2x160 2x(20x8) python examples/stream_hub.py --port /dev/ttyUSB0 --baud 921600 --rows 20 --cols 8

Quick Start

Blocking read:

from sensx import SensX

sensor = SensX(port="/dev/ttyUSB0")
while True:
    frame = sensor.read_frame()
    print(frame)

Callback:

from sensx import SensX

sensor = SensX(port="/dev/ttyUSB0")
sensor.on_frame = lambda frame, ts: print(frame.max())
sensor.start()

Callback with context manager:

from sensx import SensX
import time

with SensX(port="/dev/ttyUSB0") as sensor:
    sensor.on_frame = lambda frame, ts: print(frame.max())
    sensor.start()
    time.sleep(5)

API

SensX(port, baud_rate=15_000_000, rows=16, cols=12, init_cmd=DEFAULT_INIT_CMD)

Method / Property Description
start() Start background reader thread
stop() Stop the reader thread
close() Stop and close the serial port
read_frame() Blocking read -- returns one frame (no threading)
latest_frame Thread-safe copy of the most recent frame
latest_timestamp time.perf_counter() of the most recent frame
on_frame Callback: fn(frame: np.ndarray, ts: float)

SensXHub(port, baud_rate=15_000_000, num_sensors=2, rows=16, cols=12, init_cmd=DEFAULT_INIT_CMD)

Supports up to 5 sensors (headers 0xAAAA, 0xBBBB, 0xCCCC, 0xDDDD, 0xEEEE).

Performance

When testing on windows OS, in the case of Frequency drop:

  1. Open device manager.
  2. Navigate to the Ports and select the device, right click and open properties.

image

  1. go to advanced under the Port Settings.
  2. Change the Latency Timer (msec) to 1 and click OK.

image