sparkfun · gigapod · Mar 5, 2025 · Feb 16, 2025 · Feb 16, 2025 · Feb 16, 2025
diff --git a/README.md b/README.md
@@ -1,37 +1,62 @@
-SparkFun Optical Tracking Odometry Sensor Arduino Library
-========================================
 
+![SparkFun Optical Tracking Odometry Sensor - PAA5160E1](docs/images/gh-banner-2025-arduino-OTOS.png "SparkFun Optical Tracking Odometry Sensor - PAA5160E1Sensor")
 
-<center><img src="https://cdn.sparkfun.com/assets/parts/2/5/2/0/9/SEN-24904-Optical-Tracking-Odometry-Sensor-Feature_1.jpg" width="600" height="600" alt="SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (Qwiic)"></center>
+# SparkFun Optical Tracking Odometry Sensor - PAA5160E1
 
+Arduino Library for the SparkFun Optical Tracking Odometry Sensor - PAA5160E1 Sensor
 
-[*SparkFun Optical Tracking Odometry Sensor [SEN-24904]*](https://www.sparkfun.com/products/24904)
+![License](https://img.shields.io/github/license/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library)
+![Release](https://img.shields.io/github/v/release/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library)
+![Release Date](https://img.shields.io/github/release-date/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library)
+![Documentation - build](https://img.shields.io/github/actions/workflow/status/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library/build-deploy-ghpages.yml?label=doc%20build)
+![Compile - Test](https://img.shields.io/github/actions/workflow/status/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library/compile-sketch.yml?label=compile%20test)
+![GitHub issues](https://img.shields.io/github/issues/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library)
 
-Arduino Library for the SparkFun Optical Tracking Odometry Sensor
 
-Repository Contents
--------------------
+The [SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (SEN-24904)](https://www.sparkfun.com/sparkfun-optical-tracking-odometry-sensor-paa5160e1-qwiic.html)  empowers you to elevate your robot's navigation capabilities with exceptional precision and streamlined integration. This compact, all-in-one sensor leverages the power of the PAA5160E1 chip from PixArt Imaging Inc., delivering accurate dual-axis motion data across various hard floor surfaces. But that's not all! This sensor boasts a powerful built-in 6-axis Inertial Measurement Unit (IMU) and an onboard microcontroller that performs real-time sensor fusion and tracking algorithms.
 
-* **/documents** - Data sheets, additional product information
-* **/examples** - Example code 
-* **/src** - Source code
+Looking for the board that matches this library - pick up a [SparkFun Optical Tracking Odometry Sensor - PAA5160E1 (SEN-24904)](https://www.sparkfun.com/sparkfun-optical-tracking-odometry-sensor-paa5160e1-qwiic.html) at www.sparkfun.com.
 
-Documentation
---------------
-* **[GitHub Repo](https://github.com/sparkfun/SparkFun_Optical_Tracking_Odometry_Sensor)** - Hardware repository for the SparkFun Optical Tracking Odometry Sensor
-* **[Hookup Guide](https://docs.sparkfun.com/SparkFun_Optical_Tracking_Odometry_Sensor)** - Hookup Guide for the SparkFun Optical Tracking Odometry Sensor
+## Functionality
 
-License Information
--------------------
+This library provides an interface that enables the following functionality when a SparkFun Optical Tracking Odometry Sensor - PAA5160E1 Sensors:
 
-This product is _**open source**_! 
+* ***TODO***
+* 
+
+
+## General Use
+
+***TODO***
+
+## Examples
+
+The following examples are provided with the library
+
+- [Basic Readings](examples/Example1_BasicReadings/Example1_BasicReadings.ino) - This example demonstrates how to read the position and heading from the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+- [Set Units](examples/Example2_SetUnits/Example2_SetUnits.ino) - This example demonstrates how to change the units of the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).. 
+- [Calibration](examples/Example3_Calibration/Example3_Calibration.ino) - This example demonstrates how to calibrate the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS)..
+- [Set Offset and Position](examples/Example4_SetOffsetAndPosition/Example4_SetOffsetAndPosition.ino) - This example demonstrates how to set the offset and position of the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+-[Velocity and Acceleration](examples/Example5_VelocityAndAcceleration/Example5_VelocityAndAcceleration.ino) - This example demonstrates how to read the velocity and acceleration from the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+- [Standard Deviation](examples/Example6_StandardDeviation/Example6_StandardDeviation.ino) - This example demonstrates how to read the standard deviation of the measurements of the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+- [Get Version](examples/Example7_GetVersion/Example7_GetVersion.ino) - This example demonstrates how to get the hardware and firmware version numbers from the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+- [Self Test](examples/Example8_SelfTest/Example8_SelfTest.ino) - This example demonstrates how to perform a self test of the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS).
+
+## Documentation
+
+The full API and use documentation for this library is provided [here](https://docs.sparkfun.com/SparkFun_Qwiic_OTOS_Arduino_Library/). For a quick reference, the main methods available in the library are listed [here](https://docs.sparkfun.com/SparkFun_Qwiic_OTOS_Arduino_Library/class_qwiic_o_t_o_s.html).
+
+Curious about the hardware this board works with - visit the SparkFun Optical Tracking Odometry Sensor [hardware repository](https://github.com/sparkfun/SparkFun_Optical_Tracking_Odometry_Sensor).
+
+The ***Hookup Guide*** for the SparkFun Optical Tracking Odometry Sensor is available [here](https://docs.sparkfun.com/SparkFun_Optical_Tracking_Odometry_Sensor).
+
+## License Information
+
+This product is ***open source***!
+
+This product is licensed using the [MIT Open Source License](https://opensource.org/license/mit). 
 
-Please review the LICENSE.md file for license information. 
 
-If you have any questions or concerns on licensing, please contact technical support on our [SparkFun forums](https://forum.sparkfun.com/viewforum.php?f=152).
 
-Distributed as-is; no warranty is given.
 
-- Your friends at SparkFun.
 
-_<COLLABORATION CREDIT>_
diff --git a/docs/doxygen/doxygen-config b/docs/doxygen/doxygen-config
@@ -171,7 +171,7 @@ ALWAYS_DETAILED_SEC    = YES
 # operators of the base classes will not be shown.
 # The default value is: NO.
 
-INLINE_INHERITED_MEMB  = NO
+INLINE_INHERITED_MEMB  = YES
 
 # If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
 # before files name in the file list and in the header files. If set to NO the

diff --git a/docs/images/gh-banner-2025-arduino-OTOS.png b/docs/images/gh-banner-2025-arduino-OTOS.png
diff --git a/examples/Example8_SelfTest/Example8_SelfTest.ino b/examples/Example8_SelfTest/Example8_SelfTest.ino
@@ -1,6 +1,6 @@
 /*
     SPDX-License-Identifier: MIT
-    
+
     Copyright (c) 2024 SparkFun Electronics
 */
 
@@ -41,10 +41,10 @@ void setup()
     Serial.println("The OTOS must be stationary during the self test!");
 
     // Perform the self test
-    sfeTkError_t result = myOtos.selfTest();
-    
+    sfTkError_t result = myOtos.selfTest();
+
     // Check if the self test passed
-    if(result == kSTkErrOk)
+    if (result == ksfTkErrOk)
     {
         Serial.println("Self test passed!");
     }

diff --git a/library.properties b/library.properties
@@ -1,10 +1,10 @@
 name=SparkFun Qwiic OTOS Arduino Library
-version=1.0.2
+version=1.1.0
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=A library to use the SparkFun Qwiic Optical Tracking Odometry Sensor
-paragraph=
+paragraph=The SparkFun Qwiic Optical Tracking Odometry Sensor empowers you to elevate a robots navigation capabilities with precision and streamlined integration.
 category=Sensors
 url=https://github.com/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library
 architectures=*
-depends=SparkFun Toolkit (<1.0.0)
+depends=SparkFun Toolkit (>=1.0.0)
diff --git a/src/SparkFun_Qwiic_OTOS_Arduino_Library.h b/src/SparkFun_Qwiic_OTOS_Arduino_Library.h
@@ -1,8 +1,27 @@
-/*
-    SPDX-License-Identifier: MIT
-
-    Copyright (c) 2024 SparkFun Electronics
-*/
+/**
+ * @file SparkFun_Qwiic_OTOS_Arduino_Library.h
+ * @brief Arduino wrapper for the SparkFun Qwiic OTOS sensor driver
+ * @details This file provides an Arduino-compatible interface to the SparkFun Qwiic
+ *          Optical Tracking Odometry Sensor (OTOS). It wraps the platform-agnostic
+ *          C++ driver to provide familiar Arduino conventions and simplified usage.
+ *
+ * Features:
+ * - Simple Arduino-style begin() function
+ * - Default Wire interface support
+ * - Compatible with all Arduino platforms
+ * - Inherits all functionality from base C++ driver
+ * - Automatic I2C bus configuration
+ *
+ * @author SparkFun Electronics
+ * @date February 2024
+ * @copyright Copyright (c) 2024-2025, SparkFun Electronics Inc.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * @see https://github.com/sparkfun/SparkFun_Qwiic_OTOS_Arduino_Library
+ */
+
+// ...existing code...
 
 /*******************************************************************************
     SparkFun_Qwiic_OTOS_Arduino_Library.h - Arduino wrapper of the C++ driver
@@ -13,14 +32,16 @@
 *******************************************************************************/
 
 #pragma once
-
+// clang-format off
 #include "Arduino.h"
-#include "sfeQwiicOtos.h"
+#include <SparkFun_Toolkit.h>
+#include "sfTk/sfDevOTOS.h"
 #include <Wire.h>
+// clang-format on
 
 /// @brief Arduino class for the SparkFun Qwiic Optical Tracking Odometry Sensor
 /// (OTOS)
-class QwiicOTOS : public sfeQwiicOtos
+class QwiicOTOS : public sfDevOTOS
 {
   public:
     /// @brief Begins the Qwiic OTOS and verifies it is connected
@@ -32,7 +53,7 @@ class QwiicOTOS : public sfeQwiicOtos
         _theI2CBus.init(wirePort, kDefaultAddress);
 
         // Begin the sensor
-        return sfeQwiicOtos::begin(&_theI2CBus) == kSTkErrOk;
+        return sfDevOTOS::begin(&_theI2CBus) == ksfTkErrOk;
     }
 
   protected:
@@ -42,5 +63,5 @@ class QwiicOTOS : public sfeQwiicOtos
     }
 
   private:
-    sfeTkArdI2C _theI2CBus;
+    sfTkArdI2C _theI2CBus;
 };