diff --git a/examples/c++/CMakeLists.txt b/examples/c++/CMakeLists.txt
index d645ee05..f621286e 100644
--- a/examples/c++/CMakeLists.txt
+++ b/examples/c++/CMakeLists.txt
@@ -59,7 +59,7 @@ add_executable (enc03r-example enc03r.cxx)
 add_executable (adc121c021-example adc121c021.cxx)
 add_executable (ds1307-example ds1307.cxx)
 add_executable (a110x-example a110x.cxx)
-add_executable (gp2y0a21yk-example gp2y0a21yk.cxx)
+add_executable (gp2y0a-example gp2y0a.cxx)
 add_executable (grovemoisture-example grovemoisture.cxx)
 add_executable (groveehr-example groveehr.cxx)
 add_executable (ta12200-example ta12200.cxx)
@@ -151,7 +151,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/enc03r)
 include_directories (${PROJECT_SOURCE_DIR}/src/adc121c021)
 include_directories (${PROJECT_SOURCE_DIR}/src/ds1307)
 include_directories (${PROJECT_SOURCE_DIR}/src/a110x)
-include_directories (${PROJECT_SOURCE_DIR}/src/gp2y0a21yk)
+include_directories (${PROJECT_SOURCE_DIR}/src/gp2y0a)
 include_directories (${PROJECT_SOURCE_DIR}/src/grovemoisture)
 include_directories (${PROJECT_SOURCE_DIR}/src/groveehr)
 include_directories (${PROJECT_SOURCE_DIR}/src/ta12200)
@@ -257,7 +257,7 @@ target_link_libraries (enc03r-example enc03r ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (adc121c021-example adc121c021 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ds1307-example ds1307 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (a110x-example a110x ${CMAKE_THREAD_LIBS_INIT})
-target_link_libraries (gp2y0a21yk-example gp2y0a21yk ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (gp2y0a-example gp2y0a ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grovemoisture-example grovemoisture ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveehr-example groveehr ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ta12200-example ta12200 ${CMAKE_THREAD_LIBS_INIT})
diff --git a/examples/c++/gp2y0a21yk.cxx b/examples/c++/gp2y0a.cxx
similarity index 81%
rename from examples/c++/gp2y0a21yk.cxx
rename to examples/c++/gp2y0a.cxx
index 8469cbc0..0111b179 100644
--- a/examples/c++/gp2y0a21yk.cxx
+++ b/examples/c++/gp2y0a.cxx
@@ -25,14 +25,14 @@
 #include <unistd.h>
 #include <iostream>
 #include <signal.h>
-#include "gp2y0a21yk.h"
+#include "gp2y0a.h"
 
 using namespace std;
 
 bool shouldRun = true;
 
 // analog voltage, usually 3.3 or 5.0
-#define GP2Y0A21YK_AREF   5.0
+#define GP2Y0A_AREF   5.0
 #define SAMPLES_PER_QUERY 20
 
 void sig_handler(int signo)
@@ -46,21 +46,21 @@ int main()
   signal(SIGINT, sig_handler);
 
 //! [Interesting]
-  // Note, for the Grove version of this sensor, due to the way it is wired,
-  // you need to plug this into the A0 port, where it will use the available
-  // A1 pin for data.
+  // Note, for the Grove 80cm version of this sensor, due to the way
+  // it is wired, you need to plug this into the A0 port, where it
+  // will use the available A1 pin for data.
 
-  // Instantiate a GP2Y0A21YK on analog pin A1
-  upm::GP2Y0A21YK *volts = new upm::GP2Y0A21YK(1);
+  // Instantiate a GP2Y0A on analog pin A1
+  upm::GP2Y0A *volts = new upm::GP2Y0A(1);
   
   // The higher the voltage (closer to AREF) the closer the object is.  NOTE:
   // the measured voltage will probably not exceed 3.3 volts.
   // Every second, print the averaged voltage value (averaged over 20 samples).
   while (shouldRun)
     {
-      cout << "AREF: " << GP2Y0A21YK_AREF 
+      cout << "AREF: " << GP2Y0A_AREF 
            << ", Voltage value (higher means closer): " 
-           << volts->value(GP2Y0A21YK_AREF, SAMPLES_PER_QUERY) << endl;
+           << volts->value(GP2Y0A_AREF, SAMPLES_PER_QUERY) << endl;
       
       sleep(1);
     }
diff --git a/examples/javascript/gp2y0a21yk.js b/examples/javascript/gp2y0a.js
similarity index 73%
rename from examples/javascript/gp2y0a21yk.js
rename to examples/javascript/gp2y0a.js
index 54e0dff9..3c0bc7b2 100644
--- a/examples/javascript/gp2y0a21yk.js
+++ b/examples/javascript/gp2y0a.js
@@ -1,6 +1,5 @@
 /*jslint node:true, vars:true, bitwise:true, unparam:true */
 /*jshint unused:true */
-/*global */
 /*
 * Author: Zion Orent <zorent@ics.com>
 * Copyright (c) 2014 Intel Corporation.
@@ -24,33 +23,38 @@
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
-// JavaScript file for GP2Y0A21YK 80cm IR Proximity Sensor
+// JavaScript file for GP2Y0A family of IR Proximity Sensors
 
 // analog voltage, usually 3.3 or 5.0
-var GP2Y0A21YK_AREF = 5.0;
+var GP2Y0A_AREF = 5.0;
 var SAMPLES_PER_QUERY = 20;
 
-var IRProximity = require('jsupm_gp2y0a21yk');
+var IRProximity = require('jsupm_gp2y0a');
 
-// Note, for the Grove version of this sensor, due to the way it is wired,
+// Note, for the Grove 80cm version of this sensor, due to the way it is wired,
 // you need to plug this into the A0 port, where it will use the available
 // A1 pin for data.
-// Instantiate a GP2Y0A21YK on analog pin A1
-var myVolts = new IRProximity.GP2Y0A21YK(1);
+// Instantiate a GP2Y0A on analog pin A1
+var myVolts = new IRProximity.GP2Y0A(1);
 
 // The higher the voltage (closer to AREF) the closer the object is.
 // NOTE: The measured voltage will probably not exceed 3.3 volts.
-// Every second, print the averaged voltage value (averaged over 20 samples).
-setInterval(function()
+// Every second, print the averaged voltage value
+// (averaged over 20 samples).
+var myInterval = setInterval(function()
 {
-	console.log("AREF: " + GP2Y0A21YK_AREF + 
+	console.log("AREF: " + GP2Y0A_AREF + 
                 ", Voltage value (higher means closer): " + 
-                myVolts.value(GP2Y0A21YK_AREF, SAMPLES_PER_QUERY));
+                myVolts.value(GP2Y0A_AREF, SAMPLES_PER_QUERY));
 }, 1000);
 
 // Print message when exiting
 process.on('SIGINT', function()
 {
+	clearInterval(myInterval);
+	myVolts = null;
+	IRProximity.cleanUp();
+	IRProximity = null;
 	console.log("Exiting...");
 	process.exit(0);
 });
diff --git a/examples/python/gp2y0a.py b/examples/python/gp2y0a.py
new file mode 100644
index 00000000..f736d2cb
--- /dev/null
+++ b/examples/python/gp2y0a.py
@@ -0,0 +1,62 @@
+#!/usr/bin/python
+# Author: Zion Orent <zorent@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_gp2y0a as upmGp2y0a
+
+# Note, for the Grove 80cm version of this sensor, due to the way it is wired,
+# you need to plug this into the A0 port, where it will use the available
+# A1 pin for data.
+# Instantiate a GP2Y0A on analog pin A1
+myIRProximity = upmGp2y0a.GP2Y0A(1)
+
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This lets you run code on exit,
+# including functions from myIRProximity
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+# analog voltage, usually 3.3 or 5.0
+GP2Y0A_AREF = 5.0;
+SAMPLES_PER_QUERY = 20;
+
+# The higher the voltage (closer to AREF) the closer the object is.
+# NOTE: The measured voltage will probably not exceed 3.3 volts.
+# Every second, print the averaged voltage value
+# (averaged over 20 samples).
+while (1):
+	print "AREF: {0}, Voltage value (higher means closer): {1}".format(
+	GP2Y0A_AREF,
+	myIRProximity.value(GP2Y0A_AREF, SAMPLES_PER_QUERY))
+	time.sleep(1)
diff --git a/src/gp2y0a/CMakeLists.txt b/src/gp2y0a/CMakeLists.txt
new file mode 100644
index 00000000..ddb50a55
--- /dev/null
+++ b/src/gp2y0a/CMakeLists.txt
@@ -0,0 +1,5 @@
+set (libname "gp2y0a")
+set (libdescription "upm gp2y0a family of IR distance detectors")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()
diff --git a/src/gp2y0a21yk/gp2y0a21yk.cxx b/src/gp2y0a/gp2y0a.cxx
similarity index 76%
rename from src/gp2y0a21yk/gp2y0a21yk.cxx
rename to src/gp2y0a/gp2y0a.cxx
index cd15c26f..6943d0b9 100644
--- a/src/gp2y0a21yk/gp2y0a21yk.cxx
+++ b/src/gp2y0a/gp2y0a.cxx
@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 Intel Corporation.
+ * Copyright (c) 2015 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -24,23 +24,29 @@
 
 #include <iostream>
 
-#include "gp2y0a21yk.h"
+#include "gp2y0a.h"
 
+using namespace std;
 using namespace upm;
 
-GP2Y0A21YK::GP2Y0A21YK(int pin)
+GP2Y0A::GP2Y0A(int pin)
 {
-  mraa_init();
+  if (!(m_aio = mraa_aio_init(pin)))
+    {
+      cerr << __FUNCTION__ << "mraa_aio_init() failed." << endl;
+      return;
+    }
 
-  m_aio = mraa_aio_init(pin);
+  // get the ADC resolution
+  m_aRes = (1 << mraa_aio_get_bit(m_aio));
 }
 
-GP2Y0A21YK::~GP2Y0A21YK()
+GP2Y0A::~GP2Y0A()
 {
   mraa_aio_close(m_aio);
 }
 
-float GP2Y0A21YK::value(float aref, uint8_t samples)
+float GP2Y0A::value(float aref, uint8_t samples)
 {
   int val;
   int sum = 0;
@@ -52,7 +58,7 @@ float GP2Y0A21YK::value(float aref, uint8_t samples)
     }
 
   val = sum / samples;
-  float volts = (float)val * aref / 1024.0;
+  float volts = float(val) * aref / float(m_aRes);
 
   return volts;
 }
diff --git a/src/gp2y0a21yk/gp2y0a21yk.h b/src/gp2y0a/gp2y0a.h
similarity index 68%
rename from src/gp2y0a21yk/gp2y0a21yk.h
rename to src/gp2y0a/gp2y0a.h
index b8c8a351..1f5f137b 100644
--- a/src/gp2y0a21yk/gp2y0a21yk.h
+++ b/src/gp2y0a/gp2y0a.h
@@ -1,6 +1,6 @@
 /*
  * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2014 Intel Corporation.
+ * Copyright (c) 2015 Intel Corporation.
  *
  * Permission is hereby granted, free of charge, to any person obtaining
  * a copy of this software and associated documentation files (the
@@ -23,36 +23,49 @@
  */
 #pragma once
 
+#include <iostream>
 #include <string>
 #include <mraa/aio.h>
 
 namespace upm {
+  /**
+   * @brief UPM library for the GP2Y0A family of IR Proximity Sensors
+   * @defgroup gp2y0a libupm-gp2y0a
+   * @ingroup seeed analog light
+   */
 
   /**
-   * @brief C++ API for the GP2Y0A21YK 80cm IR Proximity Sensor
+   * @sensor gp2y0a
+   * @library gp2y0a
+   * @name GP2Y0A family of IR Proximity Sensors
+   * @category light
+   * @manufacturer seeed
+   * @connection analog
    *
-   * UPM module for the GP2Y0A21YK 80cm IR Proximity Sensor.
-   * This sensor returns an analog voltage corresponding to the distance 
-   * of an object from the sensor.  The object may be 10 cm (4 inches)
-   * to 80 cm (30 inches) away.  The voltage is low when objects
+   * @brief C++ API for the GP2Y0A family of IR Proximity Sensors
+   *
+   * This sensor family returns an analog voltage corresponding to the distance 
+   * of an object from the sensor.  The voltage is lower when objects
    * are far away; the voltage increases as objects get closer
-   * to the sensor.
+   * to the sensor.  
    *
-   * @ingroup analog
-   * @snippet gp2y0a21yk.cxx Interesting
+   * @snippet gp2y0a.cxx Interesting
    */
-  class GP2Y0A21YK {
+  class GP2Y0A {
   public:
+
     /**
-     * GP2Y0A21YK sensor constructor
+     * GP2Y0A sensor constructor
      *
      * @param pin analog pin to use
      */
-    GP2Y0A21YK(int pin);
+    GP2Y0A(int pin);
+
     /**
-     * GP2Y0A21YK Destructor
+     * GP2Y0A Destructor
      */
-    ~GP2Y0A21YK();
+    ~GP2Y0A();
+
     /**
      * Get the averaged voltage value from the sensor
      *
@@ -64,6 +77,8 @@ namespace upm {
 
   private:
     mraa_aio_context m_aio;
+    // ADC resolution
+    int m_aRes;
   };
 }
 
diff --git a/src/gp2y0a/jsupm_gp2y0a.i b/src/gp2y0a/jsupm_gp2y0a.i
new file mode 100644
index 00000000..95eaad2d
--- /dev/null
+++ b/src/gp2y0a/jsupm_gp2y0a.i
@@ -0,0 +1,8 @@
+%module jsupm_gp2y0a
+%include "../upm.i"
+
+%{
+    #include "gp2y0a.h"
+%}
+
+%include "gp2y0a.h"
diff --git a/src/gp2y0a/pyupm_gp2y0a.i b/src/gp2y0a/pyupm_gp2y0a.i
new file mode 100644
index 00000000..aebb7b39
--- /dev/null
+++ b/src/gp2y0a/pyupm_gp2y0a.i
@@ -0,0 +1,9 @@
+%module pyupm_gp2y0a
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "gp2y0a.h"
+%{
+    #include "gp2y0a.h"
+%}
diff --git a/src/gp2y0a21yk/CMakeLists.txt b/src/gp2y0a21yk/CMakeLists.txt
deleted file mode 100644
index d2946cab..00000000
--- a/src/gp2y0a21yk/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-set (libname "gp2y0a21yk")
-set (libdescription "upm gp2y0a21yk 80cm IR proximity sensor module")
-set (module_src ${libname}.cxx)
-set (module_h ${libname}.h)
-upm_module_init()
diff --git a/src/gp2y0a21yk/jsupm_gp2y0a21yk.i b/src/gp2y0a21yk/jsupm_gp2y0a21yk.i
deleted file mode 100644
index f944f769..00000000
--- a/src/gp2y0a21yk/jsupm_gp2y0a21yk.i
+++ /dev/null
@@ -1,8 +0,0 @@
-%module jsupm_gp2y0a21yk
-%include "../upm.i"
-
-%{
-    #include "gp2y0a21yk.h"
-%}
-
-%include "gp2y0a21yk.h"
diff --git a/src/gp2y0a21yk/pyupm_gp2y0a21yk.i b/src/gp2y0a21yk/pyupm_gp2y0a21yk.i
deleted file mode 100644
index 0037bf2b..00000000
--- a/src/gp2y0a21yk/pyupm_gp2y0a21yk.i
+++ /dev/null
@@ -1,9 +0,0 @@
-%module pyupm_gp2y0a21yk
-%include "../upm.i"
-
-%feature("autodoc", "3");
-
-%include "gp2y0a21yk.h"
-%{
-    #include "gp2y0a21yk.h"
-%}