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Sphero_SPRK

An python module that connects with Sphero SPRK+. Under development

Requirements:

  • Linux (bluepy & bluez dependence)
  • >= python3.3

Installation

To install the latest released version:

$ pip install sphero_sprk
$ cd <python site package>/bluepy
$ make

Usage Example

from sphero_sprk import Sphero	

orb = Sphero("C8:A2:4D:7D:FA:4F")
orb.connect()
orb.set_rgb_led(255,0,0)

Currently supported commands

General

  • ping()
  • version()
  • get_device_name()

Sphero

  • set_rgb_led(red, green, blue)
  • get_rgb_led()
  • start_gyro_callback(callback function)
  • start_accel_callback(callback function)
  • start_imu_callback(callback function)
  • set_stabilization(bool)
  • set_raw_motor_values(lmode, lpower, rmode, rpower)
  • set_heading(new_zero_heading_according_to_old_heading)
  • roll(heading, speed)

Common Errors

  • if program throws FileNotFoundError: [Errno 2] No such file or directory: '/home/$USER/python3.4/site-packages/bluepy/bluepy-helper'. Go to the directory where bluepy is installed(/home/$USER/python3.4/site-packages/bluepy/) and run the makefile located in the directory.
  • if the program halts at the beginning, restarting the program a few times will solve the problem. There's a known issue with bluepy sometimes getting stuck at the initialization phase.

Contact & License

Created and Maintained by CMU Assistive Robots Lab Contact: Zhi [email protected]

Licensed under the MIT license