version: "1.0.0" name: tap-android-raw-sensors description: >- Stream raw accelerometer and gyroscope samples from a Tap on Android (classic raw mode or framed RAW_IMU_DATA) and set sensitivity. Use for raw sensors, raw IMU, accelerometer, gyro, data logging, or custom gesture recognition. Requires tap-android-getting-started order: getDefault, registerTapListener, resume and pause.

Raw sensors

For logging and custom gesture models. For a cursor or orientation, prefer tap-android-imu-motion (less data, already integrated).

Samples arrive on onRawSensorInputReceived(id, RawSensorData). Keep the callback short: copy the sample onto a queue and write files on another thread.

Packet

RawSensorData fields: timestamp (device clock, milliseconds), dataType, points (Point3 x, y, z).

Point3 thumb = rsData.getPoint(RawSensorData.iDEV_THUMB);
if (thumb != null) {
    double x = thumb.x, y = thumb.y, z = thumb.z;
}

Use timestamp for spacing between samples, not System.currentTimeMillis().

Classic protocol

sdk.registerTapListener(listener);
// from onTapConnected, or once you know the id:
sdk.startRawSensorMode(id, (byte) 0, (byte) 0, (byte) 0); // 0 = device default
// leave raw mode
sdk.startControllerMode(id);

Arguments are deviceAccelerometerSensitivity (finger accelerometers, 1–4), imuGyroSensitivity (1–5), and imuAccelerometerSensitivity (1–4). 0 keeps the default.

• Raw streaming on classic firmware needs Developer mode in the Tap Manager app.
• Tap Strap streams finger accelerometers. Tap Strap 2 and TapXR also stream the thumb IMU.
• pause() stops the raw-mode refresh loop. resume() starts it again. Forward both.

Framed protocol

startRawSensorMode enables DeviceFeature.RAW_IMU_DATA and disables model detection and IMU-motion. The framed protocol streams the thumb IMU only. There are no finger accelerometers. DataType.Device packets are not produced.

sdk.setFeature(id, DeviceFeature.RAW_IMU_DATA, true);
sdk.setImuSensitivity(id, /* gyro 0-5 */ 3, /* accelerometer 0-4 */ 2);
sdk.getImuSensitivity(id, (identifier, sensitivity) -> {
    // null on timeout
    // sensitivity.getGyro() and sensitivity.getAccelerometer() are the wire bytes
});

Gyro range is 0–5. Accelerometer range is 0–4. 0 is not a named range.

Turn raw mode off with setFeature(id, DeviceFeature.RAW_IMU_DATA, false) or startControllerMode(id), then re-select a vision model if you want taps again (startXRTappingState).

Logging

Append samples to an ArrayDeque or a single-thread executor from the callback. Write CSV off that callback. Columns that stay unambiguous: timestamp, type (device or imu), then x, y, z per point. Ask the user how long to record. There is no sample script in the SDK; the callback above is the whole integration.

Docs in this repo

• Field list: tap-android-sdk skill, reference.md
• README section "Raw Sensor Mode"