https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Capability%3ATime-of-Flight_SensingCapability:Time-of-Flight Sensing - Revision history2026-04-25T10:20:01ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Capability:Time-of-Flight_Sensing&diff=31&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:17:24Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Capability<br />
| name = Time-of-Flight Sensing<br />
| type = Sensing<br />
| measures = Distance to objects (typically 30mm to 4000mm depending on sensor)<br />
| hardware = VL53L0X (up to 2m), VL53L1X (up to 4m), VL53L5CX (8×8 multizone), STMicroelectronics ToF sensors<br />
| enables = [[Activity:Maze Solving]], [[Activity:Room Mapping]], obstacle avoidance, cliff detection<br />
| status = '''Stub''' - Not yet implemented in BRS robots<br />
}}<br />
<br />
'''Time-of-Flight Sensing''' is a sensing capability that measures distance to objects by timing how long light takes to reflect back.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:<br />
* Document the concept for future implementation<br />
* Invite community members to add it to their robots<br />
* Provide a starting point for hardware selection<br />
<br />
== What It Measures ==<br />
<br />
Distance to objects (typically 30mm to 4000mm depending on sensor)<br />
<br />
== Common Hardware ==<br />
<br />
VL53L0X (up to 2m), VL53L1X (up to 4m), VL53L5CX (8×8 multizone), STMicroelectronics ToF sensors<br />
<br />
== Enables Activities ==<br />
<br />
Adding this capability to your robot would enable:<br />
<br />
* [[Activity:Maze Solving]]<br />
* [[Activity:Room Mapping]]<br />
<br />
== Technical Considerations ==<br />
<br />
* **Advantages**: Accurate, fast response, immune to ambient light (uses IR)<br />
* **Disadvantages**: Narrow field of view, struggles with dark/absorptive surfaces<br />
* **Typical cost**: $3-8 per sensor<br />
* **Interface**: I²C<br />
* **Accuracy**: ±3% at short range, degrades with distance<br />
* **Update rate**: 10-100 Hz depending on mode<br />
<br />
== Contributing ==<br />
<br />
Want to add this capability to your robot? Here's how:<br />
<br />
# Select appropriate hardware (see "Common Hardware" above)<br />
# Mount the hardware to your robot chassis<br />
# Wire to your microcontroller<br />
# Write driver code or use existing libraries<br />
# Test and calibrate<br />
# Document your implementation<br />
# Update this page with your findings<br />
# Share on [[Discord]]<br />
<br />
== See Also ==<br />
<br />
* [[Capabilities]] - All capabilities<br />
* [[Activities]] - What this capability enables<br />
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure<br />
<br />
[[Category:Capability]]<br />
[[Category:Sensing Capability]]<br />
[[Category:Stub]]</div>John