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Proximity

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Rick Waldron edited this page Mar 22, 2023 · 32 revisions

The Proximity class constructs an object that represents a single Proximity sensor.

Supported Proximity sensors:

  • Pulse/PWM
  • Analog
    • Ultrasonic
      • MB1000, LV-MaxSonar-EZ0
        • Hardware Constraints
          • Range:
            • Close: 0-15cm (will result in 15cm reading)
            • Long: 15-645cm (15-50cm may experience acoustic phase cancellation)
          • Resolution: 2.54cm
        • Likely supports the entire LV-MaxSonar-EZ* line, additional sensors to be confirmed.
      • MB1010, LV-MaxSonar-EZ1
        • Hardware Constraints
          • Range:
            • Close: 0-15cm (will result in 15cm reading)
            • Long: 15-645cm
          • Resolution: 2.54cm
      • MB1003, HRLV-MaxSonar-EZ0
        • Hardware Constraints
          • Range:
            • Close: 0-30cm (will result in 30cm reading)
            • Long: 30-500cm
          • Resolution: 1cm
      • MB1230, XL-MaxSonar-EZ3
        • Hardware Constraints
          • Range:
            • Close: 0-20cm (will result in 20cm reading)
            • Long: 20-765cm
          • Resolution: 1cm
    • Infrared
      • GP2Y0A21YK
        • Hardware Constraints
          • Range:
            • Close: 0-10cm (will result in 10cm reading)
            • Long: 10-80cm
          • Resolution: 1cm
      • GP2D120XJ00F
        • Hardware Constraints
          • Range:
            • Close: 0-4cm (will result in 4cm reading)
            • Long: 4-30cm
          • Resolution: 1cm
      • GP2Y0A02YK0F
        • Hardware Constraints
          • Range:
            • Close: 0-15cm (will result in 15cm reading)
            • Long: 15-150cm
          • Resolution: 1cm
      • GP2Y0A41SK0F
        • Hardware Constraints
          • Range:
            • Close: 0-4cm (will result in 4cm reading)
            • Long: 4-30cm
          • Resolution: 1cm
      • GP2Y0A710K0F
        • Hardware Constraints
          • Range:
            • Close: 0-50cm (will result in 50cm reading)
            • Long: 50-500cm
          • Resolution: 1cm
  • I2C
    • Lidar
      • LIDAR-Lite
        • Hardware Constraints
          • Range:
            • Long: 0-4000cm
          • Resolution: < 1cm
    • Ultrasonic
      • SRF10
        • Hardware Constraints
          • Range:
            • Close: 0-6cm (will result in 6cm reading)
            • Long: 6-600cm
          • Resolution: < 1cm
      • [HCSR04 (or similar see above) using and I2C backpack]
        • Hardware Constraints
          • Additional hardware:
            • Requires addition of another board such as an Arduino Nano to provide the I2C support.
          • Range:
            • Close: 0-2cm (will result in 2cm reading)
            • Long: 2-300cm
          • Resolution: < 1cm

Parameters

  • options An object of property parameters.

    Property Type Value/Description Default Required
    pin Number, String Analog or Digital Pin. Use for non-I2C sensors Yes (non-I2C)
    controller String GP2Y0A21YK, GP2D120XJ00F, GP2Y0A02YK0F, GP2Y0A41SK0F, GP2Y0A710K0F, PING_PULSEIN *, MB1000, MB1003, MB1230, LIDARLITE. See aliases Yes
    freq Number Milliseconds. The frequency in ms of data events. 25ms No
    Controller Alias Table
    Controller Alias
    GP2Y0A21YK 2Y0A21
    GP2D120XJ00F 2D120X
    GP2Y0A02YK0F 2Y0A02
    GP2Y0A41SK0F OA41SK
    GP2Y0A21YK 0A21
    GP2Y0A02YK0F 0A02
    LV-MaxSonar-EZ MB1000
    HRLV-MaxSonar-EZ0 MB1003
    XL-MaxSonar-EZ3 MB1230
    HC-SR04 PING_PULSE_IN
    HCSR04 PING_PULSE_IN
    SRF05 PING_PULSE_IN
    PARALLAXPING PING_PULSE_IN
    SEEEDPING PING_PULSE_IN
    GROVEPING PING_PULSE_IN
    LIDAR-Lite LIDARLITE

Shape

Property Name Description Read Only
id A user definable id value. Defaults to a generated uid No
cm Distance to obstruction in centimeters. Yes
centimeters Distance to obstruction in centimeters. Yes
in Distance to obstruction in inches. Yes
inches Distance to obstruction in inches. Yes

Component Initialization

Analog GP2Y0A21YK (and friends)

/*
  Use with:

  - GP2Y0A21YK
  - GP2D120XJ00F
  - GP2Y0A02YK0F
  - GP2Y0A41SK0F
*/

new five.Proximity({
  controller: "GP2Y0A21YK",
  pin: "A0"
});

Proximity

Analog GP2Y0A710K0F

new five.Proximity({
  controller: "GP2Y0A710K0F",
  pin: "A0"
});

Proximity

HCSR04/Parallax Ping *

new five.Proximity({
  controller: "HCSR04",
  pin: 7
});

Ping

* For Arduino boards, it is absolutely REQUIRED to flash your board with a special version of StandardFirmata (PingFirmata). Instructions are here.

Alternatively also consider an I2C Backpack which will keep your firmata the same and allow you to use this sensor on alternative boards such as a Raspberry Pi, BeagleBone or other non-Arduino board.

HCSR04 (and friends) I2C Backpack *

new five.Proximity({
  controller: "HCSR04I2CBACKPACK",
});

Ping

The I2C backpack requires using an Arduino (eg Nano or pro-mini) to provide the I2C capability. This removes the blocking behaviour of the PingFirmata firmware and makes this sensor more portable across alternative boards (anything that has I2C support in its IO plugin). See NodeBots Interchange HC-SR04 module for more details.

MB1000 LV-MaxSonar-EZ0
new five.Proximity({
  controller: "MB1000",
  pin: "A0"
});
MB1003 HRLV-MaxSonar-EZ0
new five.Proximity({
  controller: "MB1003",
  pin: "A0"
});
MB1230 XL-MaxSonar-EZ3
new five.Proximity({
  controller: "MB1230",
  pin: "A0"
});

Sonar

LIDAR-Lite

new five.Proximity({
  controller: "LIDARLITE"
});

LIDAR

SRF10

new five.Proximity({
  controller: "SRF10"
});

SRF10

Usage

var five = require("johnny-five");
var board = new five.Board();

board.on("ready", function() {
  var proximity = new five.Proximity({
    controller: ...,
    pin: "A0"
  });

  proximity.on("data", function() {
    console.log("inches: ", this.inches);
    console.log("cm: ", this.cm);
  });
});

API

  • within(range, unit, handler) When value is within the provided range for the specified unit (cm, centimeters, in or inches), execute callback.

    var proximity = new five.Proximity({
  controller: "GP2Y0A21YK",
  pin: "A0"
});

proximity.within([ 100, 200 ], "cm", function() {

  // This is called when the proximity sensor's cm value falls within 100-200

});

Events

  • data The "data" event is fired as frequently as the user defined freq will allow in milliseconds.

  • change The "change" event is fired when the distance to obstruction reading changes within the observable range of the sensor.

PingFirmata

DOES NOT APPLY TO NON-ARDUINO PLATFORMS

For use with:

The above listed devices require a special version of Firmata (shown below) to be loaded onto the Arduino in order to function properly. This is only necessary for the components listed in this section!

The most straightforward method to enabling this module is to use the Ping I2C Backpack. If you still want / need to use a custom firmata then the easiest way to get the firmata onto your board is to use interchange. Follow the directions below:

npm install nodebots-interchange

With your arduino plugged in then issue the following instruction, where is the serial port your arduino is plugged into (COM3, /dev/ttyUSB0 etc).

interchange install hc-sr04 -a uno -p <port> --firmata

The latest firmware will be downloaded and installed upon your board.

The final alternative is to copy and paste the source into the Arduino IDE and click the Upload button.

The JavaScript Robotics Programming Framework

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