Compatible ToF sensor setup with VOXL2 Mini
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Hi
We're wanting to interface our voxl2 mini board with a time of flight sensor. We had a time of flight sensor we bought from when we first got the VOXL2 mini, but it seems the exact same unit is no longer available.
Looking now, it seems our options are this tof sensor and [this adapter board](https://www.modalai.com/products/mdk-m0076-1modalai forus). Will these work together with the VOXL2 mini?
Morten
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Yes the old TOF (V1) is EOL and we only have the TOF V2 available now, but due to increase power requirements, the connector had to change. The Starling Front End board (M0173) provides the connector to plug in the M0178 tof assembly (look at https://docs.modalai.com/voxl2-coax-camera-bundles/ C26, or C27).
The Starling camera front end is only compatible with VOXL2, not VOXL2 mini. However, if you just wanted to plug in TOF V2 directly into VOX2 Mini, we now have M0172, which you can find a pictured here : https://forum.modalai.com/topic/4125/indoor-navigation-using-4-depth-sensors . M0172 splits the VOXL2 dual camera connector into a TOF-compatible 40-pin molex connector and the uCoax connector for the cameras that use uCoax.
We don't have M0172 officially available, but if you want to try it we can make it available in the shop. So you would need (M0172 adapter + MSU-M0178-1-01 (the whole TOF sensor assembly) ).
The connection order would look like this:
VOXL2 (mini) <-> M0172 <-> M0177 <-> M0178 <-> actual TOF sensor
(everything to the right of M0172 is sold in this kit : https://www.modalai.com/products/m0178?variant=48528287793456)This would work for either VOXL2 or VOXL2 mini. The only down side i see is that M0177 is pretty short. I am not sure if we have an extension available, but will check.
EDIT: Here is the extension that can go between M0172 and M0177 : https://www.modalai.com/products/msu-m0170
Alex
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@Alex-Kushleyev Thanks for getting back so quickly! We just have a couple of follow-up questions:
If we use this M0172 are we still able to have a tracking camera running? Such that the total setup looks something like: VOXL2 mini w/ M0178 ToF and M0014 tracking camera. If yes, then it would be great if the M0172 could be made available in the shop
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@Alex-Kushleyev Hi again Alex, sorry for disturb just wanted to hear if you had seen the previous message? And if you could make the M0172 available?
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Hi @Morten-Nissov ,
Sorry for the delay. We will get the M0172 board available for purchase ASAP.
Since your configuration uses M0014 camera, which would not be able to plug into M0172 splitter, here is your connection option:
- VOXL2 Mini J6:
- M0076 or M0135 interposer + M0014 camera
- VOXL2 Mini J7:
- M0172 interposer + TOF
(You could swap the connections, such as TOF is connected to J6, and vice versa). You would simply need to update the sensormodules (camera drivers) used, according to the slot id of each camera.)
When using VOXL2 mini with TOF, our guidance is to use only one TOF V2 per VOXL2 mini
- the TOF V2 sensor uses 5V power input, however VOXL 2 Mini only has a budget of 900mA on the 5V rail because the input voltage to the mini is 3.8V and there is a step-up regulator to 5.0V. This is different from VOXL2, which uses an APM / ESC to supply 5V 6A into VOXL2.
- the TOF V2 internally uses 3.3V and the pulsed current draw in different operating modes can be found here : https://docs.modalai.com/M0178/#irs2975-operating-modes . Using multiple TOF sensors on voxl2 mini can result in exceeding the current limit on the 5V regulator.
Keep in mind that you will still be able to plug in additional cameras if you need to:
- a uCoax camera plugged into M0172 (M0161, M0166, etc)
- any camera that uses older connector plugged into M0135 (M0014, M0107, etc)
One thing to keep in mind when using M0076 and M0135 is because they were originally designed for VOXL2, though compatible with VOXL2 mini, the interposers may interfere with the mini's mounting holes, because M0076 / M0135 (when inserted) have slight overlap with the mounting holes. However, the overlap may not be an issue if you dont have stand-offs on the side where M0076 / M0135 plugs into VOXL2 mini.
We will update this thread once M0172 is available in the shop.
Alex
- VOXL2 Mini J6:
