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 zhi.tan@ri.cmu.edu

Licensed under the MIT license