SpacePoint Scout
User Manual
Table of Contents
1
2
3
4
5
6
COPYRIGHT & WARRANTY INFORMATION ............................................................ 3
INTRODUCTION .......................................................................................................... 4
SPECIFICATIONS ....................................................................................................... 5
3.1
CHARACTERISTICS & REQUIREMENTS ..................................................... 5
3.2
MECHANICAL DRAWING............................................................................... 6
USING THE SPACEPOINT SCOUT ............................................................................ 7
4.1
SETUP ............................................................................................................. 7
4.2
UART COMMUNICATION............................................................................... 7
2
4.3
I C COMMUNICATION ................................................................................. 10
CONVERTING AND INTERPRETING THE OUTPUT ............................................... 12
5.1
SPACEPOINT QUATERNIONS .................................................................... 12
5.2
CURSOR POSITION ..................................................................................... 13
SPACEPOINT SCOUT TEST PROGRAM ................................................................ 14
6.1
SET UP .......................................................................................................... 14
6.1.1 Software ........................................................................................... 14
6.1.2 Hardware – Using PNI CommBoard ................................................ 14
6.1.3 Hardware – Direct UART Connection .............................................. 15
6.2
POWERING UP THE SPACEPOINT SCOUT .............................................. 15
6.3
LAUNCHING THE TEST PROGRAM ........................................................... 16
6.4
RUNNING THE POINT TRACKING SCREEN .............................................. 17
6.5
RUNNING THE MOTION TRACKING SCREEN .......................................... 18
6.6
EXITING THE PROGRAM & SUMMARY OF COMMANDS ......................... 18
List of Figures
Figure 2-1:
Figure 2-2:
Figure 3-1:
Figure 4-1:
Figure 4-2:
Figure 6-1:
SpacePoint Scout Module ...................................................................... 4
SpacePoint Scout System Functional Diagram ...................................... 4
Scout Mechanical Drawing ..................................................................... 6
Receive Data Structure .......................................................................... 8
Transmit Data Structure ......................................................................... 8
PNI CommBoard Jumper Configuration ............................................... 15
List of Tables
Table 3-1:
Table 3-2:
Table 3-3:
Table 3-4:
Table 4-1:
Table 4-2:
Table 5-1:
Table 6-1:
Sensor Components ................................................................................ 5
I/O Characteristics ................................................................................... 5
Environmental Requirements .................................................................. 5
Mechanical Characteristics ...................................................................... 6
UART Configuration ................................................................................ 8
Structure of UART kRequestQResp frame .............................................. 9
Scaling of Output Data .......................................................................... 12
Summary of SpacePoint Scout Test Program Commands .................... 19
1
Copyright & Warranty Information
© Copyright PNI Sensor Corporation 2012
All Rights Reserved. Reproduction, adaptation, or translation without prior written permission is prohibited, except as allowed under copyright laws.
Revised January 2013: for the most recent version visit our website at www.pnicorp.com
PNI Sensor Corporation
2331 Circadian Way
Santa Rosa, CA 95407, USA
Tel: (707) 566-2260
Fax: (707) 566-2261
Warranty and Limitation of Liability. PNI Sensor Corporation ("PNI") manufactures its Products from parts and components that are new or equivalent to new in
performance. PNI warrants that each Product to be delivered hereunder, if properly used, will, for ninety (90) days following the date of shipment unless a different
warranty time period for such Product is specified: (i) in PNI’s Price List in effect at time of order acceptance; or (ii) on PNI’s web site (www.pnicorp.com) at time of
order acceptance, be free from defects in material and workmanship and will operate in accordance with PNI’s published specifications and documentation for the
Product in effect at time of order. PNI will make no changes to the specifications or manufacturing processes that affect form, fit, or function of the Product without
written notice to the Customer, however, PNI may at any time, without such notice, make minor changes to specifications or manufacturing processes that do not
affect the form, fit, or function of the Product. This warranty will be void if the Products’ serial number, or other identification marks have been defaced, damaged,
or removed. This warranty does not cover wear and tear due to normal use, or damage to the Product as the result of improper usage, neglect of care, alteration,
accident, or unauthorized repair.
THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY, WHETHER EXPRESS, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF
MERCHANTABILITY, FITNESS FOR ANY PARTICULAR PURPOSE, OR ANY WARRANTY OTHERWISE ARISING OUT OF ANY PROPOSAL, SPECIFICATION, OR SAMPLE. PNI
NEITHER ASSUMES NOR AUTHORIZES ANY PERSON TO ASSUME FOR IT ANY OTHER LIABILITY.
If any Product furnished hereunder fails to conform to the above warranty, Customer’s sole and exclusive remedy and PNI’s sole and exclusive liability will be, at
PNI’s option, to repair, replace, or credit Customer’s account with an amount equal to the price paid for any such Product which fails during the applicable warranty
period provided that (i) Customer promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the deficiency; (ii) such Product is
returned to PNI’s service facility at Customer’s risk and expense; and (iii) PNI is satisfied that claimed deficiencies exist and were not caused by accident, misuse,
neglect, alteration, repair, improper installation, or improper testing. If a Product is defective, transportation charges for the return of the Product to Customer
within the United States and Canada will be paid by PNI. For all other locations, the warranty excludes all costs of shipping, customs clearance, and other related
charges. PNI will have a reasonable time to make repairs or to replace the Product or to credit Customer’s account. PNI warrants any such repaired or replacement
Product to be free from defects in material and workmanship on the same terms as the Product originally purchased.
Except for the breach of warranty remedies set forth herein, or for personal injury, PNI shall have no liability for any indirect or speculative damages (including, but
not limited to, consequential, incidental, punitive and special damages) relating to the use of or inability to use this Product, whether arising out of contract,
negligence, tort, or under any warranty theory, or for infringement of any other party’s intellectual property rights, irrespective of whether PNI had advance notice
of the possibility of any such damages, including, but not limited to, loss of use, revenue or profit. In no event shall PNI’s total liability for all claims regarding a
Product exceed the price paid for the Product. PNI neither assumes nor authorizes any person to assume for it any other liabilities.
Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or limitation of incidental or consequential damages, so
the above limitations or exclusions may not apply to you. This warranty gives you specific legal rights and you may have other rights that vary by state or province.
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2
Introduction
Thank you for purchasing PNI Sensor Corporation‟s SpacePoint Scout motion-tracking module,
pn 13317. We‟re certain you‟ll be impressed with its performance.
The SpacePoint Scout outputs precise data regarding the module‟s orientation. This can be used
for a variety of motion-tracking applications, most notably for motion-based controllers for TV
and set-top box navigation, and for video gaming. The impressive performance of the
SpacePoint Scout allows a manufacturer to competitively differentiate their products by easily
incorporating intuitive, accurate, and low-latency motion control into their systems.
Figure 2-1: SpacePoint Scout Module
Today‟s controllers are becoming more intuitive with the addition of gyros and accelerometers,
but these sensors alone result in drift and inaccurate pointing. As shown in Figure 2-2, the
SpacePoint Scout incorporates PNI‟s Geomagnetic Sensor Suite with a 3-axis gyroscope and 3axis accelerometer, resulting in accurate motion tracking with no gyro drift. The system outputs
are internally processed using PNI‟s SpacePoint algorithm to provide calculated orientation data
in the form of quaternions, and horizontal and vertical cursor positions.
Figure 2-2: SpacePoint Scout System Functional Diagram
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3 Specifications
3.1 Characteristics & Requirements
Table 3-1: Sensor Components
Sensor Type
Manufacturer
Model
3-Axis Gyroscope
ST Microelectronics
L3G4200D
3-Axis Accelerometer
ST Microelectronics
LIS3LV02DL
PNI Sensor Corporation
RM3000-f
3-Axis Magnetic Sensor
Table 3-2: I/O Characteristics
Parameter
Value
Supply Voltage (Vin)
3.8 to 10 VDC
2
Communication Interface
UART & I C
Communication Protocol
PNI Binary
Communication Data Rate
115200 baud
Output Data Rate
125 Hz
High-Level Input
+2 V to +3.8 V
Low-Level Input
-0.5 V to +1.1 V
High-Level Output
2.4 V min. @ 8 mA
1
0.4 V max. @ 8 mA
Low-Level Output
Footnote:
2
1. For I C communication, the Scout incorporates an internal
4.7 kΩ pull-up resistor.
Table 3-3: Environmental Requirements
Parameter
Operating Temperature
Storage Temperature
Value
2
-40C to +85C
-40C to +85C
Footnote:
2. The SpacePoint Scout can operate across this temperature
range, but performance will vary across the range.
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Table 3-4: Mechanical Characteristics
Parameter
Dimensions (l x w x h)
Weight
Value
25.4 x 25.4 x 16.0 mm
6 gm
Connector
7 pin SIP, 0.1” Header
3.2 Mechanical Drawing
Figure 3-1: Scout Mechanical Drawing
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4
Using the SpacePoint Scout
The SpacePoint Scout supports both UART and I2C interfaces for communicating with the user‟s
host system. These interfaces are discussed in Sections 4.2 and 4.3, respectively, which follow a
discussion on setting up the SpacePoint Scout.
PNI‟s CommBoard (pn 13466) can be mated with the SpacePoint Scout and this, in combination
with the SpacePoint Scout Test Program, provides a quick way to start working with the
SpacePoint Scout. See the PNI CommBoard User Manual and Section 6 for additional
information.
4.1 Setup
First, identify the arrowhead on the SpacePoint Scout PCB, then mount the Scout within the
host system such that the arrowhead points in the intended direction-of-travel or line-of-sight.
Figure 3-1 shows the pin-out. Note that TxD and RxD should be used for UART
communication, while SCL and SDA should be used for I2C communication. A couple of
points regarding mounting:
Mounting should be such that the SpacePoint Scout is isolated from persistent
accelerations, such as vibration or rapid directional changes. The Scout is intended to
provide accurate motion tracking while experiencing intermittent accelerations.
However, the Scout will have difficulty accurately tracking motion over extended
periods of time if it is constantly subjected to accelerations.
While the Scout can compensate for transient changes in the local magnetic field, it is
good design practice to keep the Scout away from sources of local magnetic
distortion that knowingly will change with time; such as speakers, electrical
equipment that will be turned on and off, or ferrous bodies that will move.
Finally, it is important to ensure the Scout is at rest when initially powered on, and remains at
rest for 3 seconds after powering on. The gyroscopes initialize during this period, and
movement of the module will distort the initialization process.
4.2 UART Communication
The SpacePoint Scout allows for communication with the host system via a UART interface.
Through the UART , the user‟s system requests the output from the SpacePoint Scout and the
module subsequently transmits this data. The outputs include quaternions, which prescribe
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the orientation of the module, and the horizontal and vertical position for a cursor. See
Section 5 for how to interpret the outputs.
Table 4-1: UART Configuration
Parameter
Value
Baud Rate
115200
Data Bits
8
Parity
none
Stop Bits
1
Flow Control
none
The receive (Rx) and transmit (Tx) data structures and data frames for the UART interface
are shown below in Figure 4-1 and Figure 4-2. All data is presented as unsigned integers in
little Endian format. (For I2C communication the format is different, being big Endian.)
Note that the receive command is a single byte frame.
RX Command
(UInt8)
kRequestQ
kResetRef
Rx Command
0x32
0x34
Description
Request quaternion data from SpacePoint algorithm.
Reset Reference Frame
Figure 4-1: Receive Data Structure
kRequestQResp
Frame ID
0x32
Description
Output SpacePoint quaternion data.
Figure 4-2: Transmit Data Structure
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kRequestQ & kRequestQResp
The command to receive data (kRequestQ) is 0x32. Once the SpacePoint algorithm
receives the kRequestQ command, the algorithm will operate in push mode, such that
the response frame is constantly transmitted at 125 Hz. The structure of the
kRequestQResp frame is given below in Table 4-2.
Table 4-2: Structure of UART kRequestQResp frame
Byte
Description
1
Leading Byte = 0x24
2
Byte Count = 0x1A
3
Frame ID = 0x32
4
Accel X LSB
5
Accel X MSB
6
Accel Y LSB
7
Accel Y MSB
8
Accel Z LSB
9
Accel Z MSB
10
Quaternion X LSB
11
Quaternion X MSB
12
Quaternion Y LSB
13
Quaternion Y MSB
14
Quaternion Z LSB
15
Quaternion Z MSB
16
Quaternion W LSB
17
Quaternion W MSB
18
Horizontal Position (Hpos) LSB
19
Horizontal Position (Hpos) MSB
20
Vertical Position (Vpos) LSB
21
Vertical Position (Vpos) MSB
22
Reserved
23
CRC – 16 Upper Byte
24
CRC – 16 Lower Byte
25
Upper Trailing Byte = 0x0D
26
Lower Trailing Byte = 0x0A
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Note: The CRC mentioned in this document adheres to a 16-bit Fletcher algorithm. See
http://en.wikipedia.org/wiki/Fletcher%27s_checksum.
kResetRef
Cursor position tracking is relative to a reference established by the user. Normally a
user will point the SpacePoint Scout at the center of a screen, then press a keyboard
button or a button on the user‟s device that resets the cursor to the center of the
screen. The UART command to set the cursor at the center of the screen is 0x34.
4.3 I2C Communication
The SpacePoint Scout also supports communication with the host system via an I2C interface.
The module acts as the Slave device and the user‟s processor acts as the Master device. The
slave address (HwADDR) is 0x18. All data is presented as unsigned integers in big Endian
format. (For UART communication the format is different, being little Endian.) Command
sequences are given below for polling data and resetting the cursor reference frame.
Polling Quaternion Data
Master
Slave
ST
HwADDR
0x31
SR
SAK
Master
QX LSB
Master
Slave
MAK
MAK
SAK
MAK
Slave
HwADDR+1
SAK
MAK
MAK
QY MSB
QY LSB
MAK
QW MSB
QX MSB
NMAK
MAK
QZ MSB
QZ LSB
SP
QW LSB
Polling Cursor Position (Hpos and Vpos) Data
Master
Slave
Master
Slave
Master
Slave
Master
ST
HwADDR
0x33
SAK
MAK
Reserved
SR
MAK
MAK
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MAK
Reserved
MAK
Reserved
MAK
Reserved
MAK
Reserved
Reserved
MAK
MAK
SAK
MAK
Reserved
Reserved
HwADDR+1
SAK
MAK
Reserved
MAK
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MAK
Slave
Reserved
Master
Slave
HPOS MSB-1
Master
Slave
Reserved
Reserved
MAK
MAK
HPOS LSB+1
MAK
HPOS MSB
MAK
VPOS MSB-1
MAK
HPOS LSB
VPOS MSB
MAK
VPOS LSB+1
NMAK
SP
VPOS LSB
Establishing the Cursor Reference Frame (ResetRef)
Cursor position tracking is relative to a reference established by the user. Normally
the user will point the SpacePoint Scout at the center of a screen, then press a
keyboard button or a button on the user‟s device that will reset the cursor to the center
of the screen. The command sequence to set the cursor at the center of the screen is
given below.
Master
Slave
ST
HwADDR
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SAK
SP
SAK
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5
Converting and Interpreting the Output
The various outputs provided by the SpacePoint Scout are in an unscaled format. Table 5-1
provides conversion and scaling information for both the UART and I2C interfaces. Further
discussion on SpacePoint Quaternions and Cursor Position follows.
Table 5-1: Scaling of Output Data
Output
Interface
Equation
Units or Range
Quaternions
UART & I C
q_scaled = (q_output - 32768)/32768
Range: –1.0 to 1.0
Acceleration
UART
Accel_g = (Accel_output –32768)*6/32768
g
Hpos & Vpos
UART
Hpos_scaled = (Hpos_output -32768)/32768
Vpos_scaled = (Vpos_output -32768)/32768
Range: –0.5 to +0.5
Hpos & Vpos
IC
See IEEE – 754
Range: –0.5 to +0.5
2
2
5.1 SpacePoint Quaternions
Rotation quaternions are 4 element vectors which describe the rotation of an object with a
single angle, Φ, and a rotation axis, v [vx vy vz]. For the SpacePoint algorithm, the
rotation quaternion is defined as:
q
[qx qy qz qw] = [q0 q1 q2 q3], where
qx = vx*sin(Φ/2)
qy = vy*sin(Φ/2)
qz = vz*sin(Φ/2)
qw = cos(Φ/2)
Note that qw often is referred to as the scalar term of the quaternion. Also, other definitions
of a rotation quaternion exist, such as q [qw qx qy qz].
For the SpacePoint algorithm, the rotation quaternion represents the absolute rotation from
the NED (North East Down) reference orientation. The NED reference orientation has the x
axis pointed north, the y axis pointed east, and the z axis pointing down. If the SpacePoint
Scout is held level with the front of the device pointing towards magnetic north, then q = [0 0
0 1], since Φ = 0.
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5.2 Cursor Position
The cursor position values, Hpos and Vpos, are used to map the SpacePoint Scout‟s
orientation to a cursor‟s position on a TV or computer screen.
Standard practice is for Hpos and Vpos values to range from –0.5 to +0.5, such that “0.0” is
the center of the screen, Hpos = –0.5 represents the left side of the screen, and Vpos = 0.5
represents the bottom of the screen.
The formulas in Table 5-1 show how to covert the raw Hpos and Vpos output to properly
scaled values, assuming a 16:9 screen ratio. Consequently, an ~60° rotation in the horizontal
plane will move the cursor from the left side of the screen to the right side, while an ~34°
rotation in the vertical plane will move the cursor from the top to the bottom of the screen.
Before using the position data, it is first necessary to set the SpacePoint Scout orientation
with respect to the screen. This is done by pointing the device at the center of the screen,
then sending the ResetRef command using either the UART or I2C interface.
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6
SpacePoint Scout Test Program
The SpacePoint Scout Test Program is intended to demonstrate the functionality and
performance of the SpacePoint Scout. The program is built with the Unity3D Game Engine and
will run on Windows XP, Windows Vista, and Windows7 computers. To help ensure optimal
performance, a dedicated graphics card is recommended.
PNI generally recommends mating the Scout to PNI‟s CommBoard (pn 13466) to run the
SpacePoint Scout Test Program, as this simplifies the set up. However this is not necessary as
the program operates via the UART interface, and the user can directly run the program using the
Scout‟s UART interface.
6.1 Set Up
6.1.1 Software
Ensure the following conditions are met:
The “SpacePointTestProgram.exe” program and its associated file folder
“SpacePointTestProgram_Data” are located on your computer‟s local hard drive
and are in the same directory.
Microsoft‟s .NET Framework and Visual C++ Redistributable are installed on
your computer. If you are uncertain if they are installed, go to the “Control
Panel”, then “Add or Remove Programs”. You should see “Microsoft Visual C++
Redistributable – x86” and either “Microsoft .NET Framework 3.5” or “Microsoft
.NET Framework 4 Client Profile” in the list of currently installed programs. If
either is missing, they can be downloaded at Microsoft‟s website:
http://www.microsoft.com/downloads/en/default.aspx. In the event the Test
program does not work properly, uninstall all versions of Microsoft .NET
Framework and reinstall it.
Close all other applications when running the program to ensure optimal
performance. Also, it is advisable to operate the program on a computer with a
single screen.
6.1.2 Hardware – Using PNI CommBoard
If using the PNI CommBoard, plug the Scout into the CommBoard and configure the
jumpers as shown in Figure 6-1.
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Figure 6-1: PNI CommBoard Jumper Configuration
6.1.3 Hardware – Direct UART Connection
If incorporating the SpacePoint Scout directly into a host system, the UART interface
should be directly implemented. This involves following the set-up instructions
discussed in Sections 4.1 and 4.2, and specifically requires soldering or otherwise
connecting the GND, Vin, TxD, and RxD pins on the Scout to the host system, as
indicated in Figure 3-1.
6.2 Powering Up the SpacePoint Scout
If you are using the PNI CommBoard, connect the CommBoard to your computer using a
USB-to-mini-USB cable. The red and blue LEDs on the CommBoard should light up. Press
the Reset button (SW1) on the CommBoard to ensure the computer is correctly interpreting
your device‟s communication protocol
If the Scout is integrated into a host system and the UART is directly implemented, then
supply power to Vin.
Note: Ensure the SpacePoint Scout is fully at rest when powering up, and that it remains so for at
least 3 seconds afterwards. This is so the gyro bias properly stabilizes during the initial power-on.
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6.3 Launching the Test Program
Launch the program by double-clicking on “SpacePointTestProgram.exe”. The program
Configuration window will appear, as shown below. The default settings normally work
well, but you can change them if you prefer. Note that if “Windowed” is unchecked the
program will launch in full screen mode. Click <Play!> to proceed.
Now the port configuration screen will appear, as shown below. Set the COM Port to the
appropriate port. If you are uncertain which port this is, in Windows go to the Device
Manager and click on Ports to see which Port shows a USB Serial Port. Set the baud rate to
115200. Click <Resume>.
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6.4 Running the Point Tracking Screen
The Point Tracking screen will now open, as shown below.
Initialization: Point the SpacePoint Scout at the center of the screen, and then press the „4‟
key. This establishes the relationship between the orientation of the device and the cursor
position (ResetRef). Next press the „2‟ key to start outputting data.
Viewing data: To view output data, press “H” so the data window appears. In the data box
you will see data outputs from the calculated accelerometer readings (AOut), the quaternions
(QOut), and the horizontal and vertical positions (hvPos). Pressing “H” again will toggle
back to the Point Tracking screen without the data window.
Running the Program: After pressing „4‟ and „2‟, the cursor will track the orientation of
the SpacePoint Scout. Point the device to the left or right, and the cursor will move to the
left or right. This will happen with very low latency and precise motion detection. If you
point the device so the cursor goes off screen, the device will continue tracking the absolute
orientation of the device such that when you later point the device at the center of the screen
the cursor will return to the center of the screen.
If you want to re-establish the relationship between the orientation of the SpacePoint Scout
and the cursor position, press „4‟ again. This will stop data from outputting and the cursor
will freeze where it was when you pressed „4‟. Press „2‟ again to start outputting data. If
you did not change the orientation of the device since pressing the „4‟ key, the cursor will
move to the center of the screen.
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To stop outputting data press „0‟.
6.5 Running the Motion Tracking Screen
The SpacePoint Scout Test Program also provides a 3-D rendering of the SpacePoint
Demonstration Module. This is accessed by pressing “M” to toggle to the Motion Tracking
screen. Pressing the “H” key brings up the data window, just as on the Point Tracking
screen. Press the „2‟ key to start outputting data. Note that the rendered image will not
change, even though data is being output. Initialize and align the viewpoint in the Motion
Tracking screen by pressing „P‟. Now the rendered image will track the orientation of the
device.
Pressing „M‟ again toggles you back to the Point Tracking Screen.
6.6 Exiting the Program & Summary of Commands
To exit the program, press the “x” key on your computer‟s keyboard. Table 6-1 summarizes
the various commands for the SpacePoint Scout Test Program.
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Table 6-1: Summary of SpacePoint Scout Test Program Commands
Key
Command
“2”
Start serial communication between SpacePoint Scout and computer
“0”
Stop serial communication between SpacePoint Scout and computer
“H”
Toggle to show or hide the data screen
“M”
Toggle between the Point Tracking and Motion Tracking screens
“P”
Set orientation in Motion Tracking screen
“4”
Center cursor in Point Tracking screen
“X”
Exit program
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