Firmware – wireless configuration with the MiniBee firmware library

Supported sensors and actuators

The MiniBee firmware library allows you to use most common sensors without having to reprogram the boards.

The sensor and actuation options supported by the library are:

  • Analog sensors (connected to the analog input pins, e.g. resistive sensors, analog accelerometers, infrared distance sensors)
  • Digital sensors (on/off, e.g. buttons and switches)
  • Two wire interface (TWI or I2C) devices:
    • LIS302DL – accelerometer
    • ADXL345 – accelerometer
    • HMC58X3 – magnetometer
    • TMP102 – temperature sensor
    • BMP085 – barometric pressure and temperature
  • Relative humidity and temperature sensor (SHT15)
  • Ultrasound sensors
  • PWM output (e.g. dimmable LEDs, motors)
  • Digital output (on/off)

Steps in the wireless configuration

  • Board reads the serial number of the XBee and sends it to the coordinator
  • Coordinator assigns an ID and tells the board whether or not it will receive a new configuration
    • Board sends a message back that it is waiting
    • Coordinator sends configuration
  • Board sends a summary of the current configuration (for the coordinator to verify)
  • Board starts sending data


Configuration is currently done through the XML configuration file (see documentation on the Python hive client) or through

Viewing the incoming data in the host:

Starting the host in SuperCollider like this:

x =; // creating the datanetwork
x.makeGui; // creating a GUI
x.createHost; // making the datanetwork a host

will bring up the DataNetwork GUI:

Once you have started the swpydonhive program and turned on some of your MiniBees, you will see them appear in the DataNodes GUI. You open this by clicking on the [NODES] button in the DataNetwork GUI (see at the top), and expand the view of DataNode 1 by clicking on the [>] button, we can see the current value of the ultrasound sensor (automatically scaled between 0 and 1):

View of the value of the ultrasound sensor in the DataNodes GUI.


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