Many sensors provide measured values as voltage levels. A board can read the voltage level and perform some calculations to convert the voltage to reasonable units.
This article guides you through a process of adding support for such sensor. To do this, we’re going to create a new patch node. It is implied that you already know how to create patch nodes.
Start with creating a new project, or open the project you worked on while learning to develop patch nodes.
To demonstrate the process, let’s create a new node to read a popular GP2Y0A02 (yep, not a very elegant name) infrared range meter by Sharp. This guy:
Our purpose is a node which provides distance to an obstacle in meters.
xod/common-hardware library already contains the node, but for
the sake of example, let’s imagine there is no such node yet.
First, read the datasheet and understand the math behind voltage-to-value conversion.
In our particular case, we see that the “Inverse number of distance” almost linearly depends on “Output voltage” in sensor’s working range (20 to 150 centimeters). The points outlined in red are on the grid and thus convenient to build a proportion. Finally, our computation plan is:
So, in XOD we need to read analog values from the sensor, do the math, and we’ll
get desired distance value in meters. While testing, use the
watch nodes to observe the results and verify
correctness. Here is our patch:
PORT value of
analog-sensor to the board pin number you’ve
connected the sensor. Upload with debugger enabled, slowly move a book or sheet
of paper ahead of the sensor and observe value change. Do measurements look
realistic? Cool! We have a “body” for our new node.
The current program works but has the
PORT value hard-coded and contains the
watch node not everyone would be interested in. Let’s move from the draft to a
Create a new patch and name it like
⟨cryptic-part-id⟩-⟨human-name⟩naming convention. It simplifies further node search and identification on a patch.
As you did before, cut/paste all nodes except the
watch from the
gp2y0a02-range-meter. Again, we need few terminals to interact with the
node. At the very least they are
PORT value and the result. Don’t forget to
give them sensible labels.
Switch back to the
main. Drag and drop the
gp2y0a02-range-meter node there.
That’s our range meter, and it provides distance values. Link its output pin to
watch. Upload the program with the debugger and verify the
Also, not every board has 5 volts as it’s upper measurement limit. Some use 3.3
volts; others depend on a battery charge. It is a fact not related much to our
node, so we’ll let a user specify ADC voltage. Extra
input-number would make
One more thing. It’s highly recommended to expose the update (
UPD) input as
well. That way a node user can control when and high often to read the sensor.
input-pulse for it.
Although measured voltage setting is up to a user from now on, we want to provide a sensible default for it: 5 volts. The value will be used until a user overrides it. To bind a default value, select the terminal node and set the desired value in the Inspector.
Likewise, set the default value for the
UPD terminal to “Continuously.”
We have made a complete solution to read a particular sensor model. Next time you would hook range meters into a project you have not to recall all the math behind the raw signal conversion.
Now you should be able to make similar nodes for dozens of sensors. The difference is in math only. Consult the part datasheet to understand it.