sphero-project

Video Example

R2D2 + A*

Setup

# clone this repo
git clone https://github.com/josephcappadona/sphero-project.git
cd sphero-project

# install python dependencies
python3.7 -m pip install numpy pygame pynput

# setup node.js
cd src
bash setup_node_mac.sh
cd ..

# compile the server library and dependencies
cd spherov2.js/lib
yarn rebuild
cd ..
yarn install

Usage

Start Server

cd sphero-project/spherov2.js/examples
sudo yarn server  # must use sudo to access bluetooth adapter

Start Client

Navigate to sphero-project/src, and in python3.7 REPL:

from client import DroidClient
droid = DroidClient()
droid.scan()

droid.connect_to_droid('D2-2A86')
# or droid.connect_to_R2D2()
# or droid.connect_to_R2Q5()
# or droid.connect_to_any()

droid.animate(10)
droid.set_logic_display_intensity(1)
droid.set_holo_projector_intensity(1)
droid.set_front_LED_color(255, 255, 0)
droid.set_back_LED_color(0, 255, 255)
droid.play_sound(10)

droid.roll(0.5, 180, 2)  # drive at half speed, at a 180deg heading, for 2 seconds
droid.set_stance(2)  # transition back to bipod

from maneuver import follow_path
path = [(0,0), (0,1), (1,1), (1,2), (2,2), (2,3), (3,3), (3,0), (0,0)]
follow_path(droid, path, 0x88, scale_dist=0.5)

droid.turn(0)
droid.sleep()
droid.quit()

Drive Mode

Drive mode allows you to drive your droid using your keyboard. Once you have the server running, you can start drive mode like this:

from client import DroidClient
droid = DroidClient()
droid.connect_to_droid('D2-2A86')  # or other connect command
droid.enter_drive_mode()  # droid will change stance to tripod and python will start accepting keystrokes
droid.exit()

You can also run python drive_mode.py from the src directory, but be sure to change the connect command with the name of your droid.

The controls for drive mode are:

UP = increase speed 0.1
DOWN = decrease speed 0.1
LEFT = adjust heading left 15°
RIGHT = adjust heading right 15°
S = stop droid (brings speed to 0)
ESC = quit drive mode

Development

Should you change any of the spherov2.js/lib files, you must rebuild the library:

cd sphero-project/spherov2.js/lib
yarn rebuild

TODO

• implement GUI
• document interface properly
• move spherov2.js into a lib folder
• create scripts to start the server for simplicity (?)