Stream raw sensor data

This guide uses InputModeRaw and NUS raw notifications on TapSDK.

Enable Developer mode in the Tap Manager app first. Raw mode is available on Tap Strap / Tap Strap 2 (finger accelerometers) and Tap Strap 2 / TapXR (thumb IMU).

Enter raw mode

from tapsdk import InputModeRaw
from tapsdk.enumerations import (
    FingerAcclSensitivity,
    ImuGyroSensitivity,
    ImuAcclSensitivity,
)

tap.register_raw_data_events(on_raw)

await tap.set_input_mode(InputModeRaw(
    scaled=True,
    finger_accl_sens=FingerAcclSensitivity.G4,
    imu_gyro_sens=ImuGyroSensitivity.DPS250,
    imu_accl_sens=ImuAcclSensitivity.G4,
))

With scaled=True, accelerometer values are in mg and gyro values in mdps. With scaled=False, payloads are raw LSB counts.

Handle packets

def on_raw(identifier, packets):
    for packet in packets:
        # packet["type"]: "imu" or "accl"
        # packet["ts"]:   ms timestamp from the device clock
        # packet["payload"]: list of samples
        print(identifier, packet["type"], packet["ts"], packet["payload"])

• imu: 6 values — gyro x/y/z then accelerometer x/y/z on the thumb.
• accl: 15 values — 3-axis accelerometer for thumb, index, middle, ring, pinky (Tap Strap family).

Sensitivity options

See FingerAcclSensitivity, ImuGyroSensitivity, and ImuAcclSensitivity.

For coordinate frames and sampling rates, see Raw sensors explained.