PySphero

PySphero (BOLT supported)

Installation

Install via pip3 since ROS 2 uses Python3.

Dependencies

# apt-get install libgtk2.0-dev
# pip3 install bluepy
# pip3 install gatt

Install

# pip3 install pysphero

Restart the session.

Class Information of PySphero

Class: Sphero

Method	Package	Return Type
system_info	pysphero.device_api	SystemInfo
power	pysphero.device_api	Power
driving	pysphero.driving	Driving
api_processor	pysphero.device_api	ApiProcessor
user_io	pysphero.device_api	UserIO
sensor	pysphero.device_api	Sensor
animatronics	pysphero.device_api	Animatronics

Class: SystemInfo

source: pysphero/device_api/system_info.py

Method	Return Type	Overview
get_main_application_version	Version	Get version of toy's firmware
get_bootloader_version	Version	Get version of toy's bootloader
get_mac_address	str	Get toy's mac address as "aa:bb:cc:dd:ee:ff"
get_nordic_temperature	int	Return celsius temperature
get_status_id	int	???
get_sku	str	???

Class: Version

class Version(NamedTuple):
    major: int
    minor: int
    revision: int

Class: Power

source: pysphero/device_api/power.py

Method	Return Type	Overview
enter_deep_sleep	-	Send shutdown command to toy
enter_soft_sleep	-	Send sleep command to toy
get_battery_voltage	float	Get battery voltage
wake	None	Wake up toy
get_battery_state	BatteryVoltageStates	Get battery state without known volatage constants
battery_state_changed	ChagerStates	Get charging status information

class BatteryVoltageStates(UnknownEnumMixing, Enum):
    ok = 0x01
    low = 0x02
    critical = 0x03


class ChargerStates(UnknownEnumMixing, Enum):
    not_charging = 0x01
    charging = 0x02
    charged = 0x03

Class: Driving

source: pysphero/driving.py

*Mandatory

Method	Argument	Function
drive_with_heading	*speed(int: 0 to 255), *heading(int: 0 to 360), direction(Direction)	Drive heading to heading with speed speed
set_stabilization	*stabilization_index: StabilizationIndex	???
raw_motor	left_speed(int: 0 to 255), left_direction(DirectionRowMotor), right_speed(int: 0 to 255), right_direction(DirectionRawMotor)	Control of each motor separately. (Note it works strange)
reset_yaw	None	Reset of toy's yaw
tank_drive	left_speed(int), right_speed(int), direction(TankDriveDirection)	For Sphero RVR?

Class: ApiProcessor

source: pysphero/device_api/api_processor.py

Method	Overview
echo	Send ping

Class: UserIO

source: pysphero/device_api/user_io.py

*Mandatory

Method	Argument	Function
set_all_leds_8_bit_mask	*front_color(Color), *back_color(Color)	Set LEDs color (for only Sphero BOLT)
set_led_matrix_one_color	*color(Color)	Set matrix one color
set_led_matrix_pixel	*pixel(Pixel), *color(Color)	Put into pixel the color
set_led_matrix_single_character	*symbol(str), *color(Color)	Print symbol on matrix
set_led_matrix_text_scrolling	*string(str: max 6 symbols), *color(Color), speed(int: max 30), repeat(bool)	Print text on matrix
set_led_matrix_text_scrolling_notify	None	???
set_led_matrix_frame_rotation	rotation(FrameRotation)	???

Class: Sensor

source: pysphero/device_api/sensor.py

*Mandatory

Method	Argument	Return Type	Overview
set_notify	*callback(Callback function), *sensors(Sensors class), interval(int), count(int), timeout(float)	None	Set notifications from sensors
cancel_notify_sensors	None	None	Cancel notifications from sensors
get_sensor_streaming_mask	None	Tuple	???
get_ambient_light_sensor_value	None	float	???
magnetometer_calibrate_to_north	None	None	???

Sensor Class

Class	Attribute
Quaternion	x, y, z, w
Attitude	pitch, roll, yaw
Accelerometer	x, y, z
AccelOne	accel_one
Locator	x, y
Velocity	x, y
Speed	speed
CoreTime	core_time
Gyroscope	x, y, z
AmbientLight	ambient_light

How to Use Example

sensors.py

from time import sleep
from typing import Dict

from pysphero.core import Sphero
from pysphero.device_api.sensor import CoreTime, Quaternion


def notify_callback(data: Dict):
    info = ", ".join("{:1.2f}".format(data.get(param)) for param in Quaternion)
    print(f"[{data.get(CoreTime.core_time):1.2f}] Quaternion (x, y, z, w): {info}")
    print("=" * 60)


def main():
    mac_address = "d6:bc:6a:05:79:b6"
    with Sphero(mac_address=mac_address) as sphero:
        sphero.power.wake()
        sphero.sensor.set_notify(notify_callback, CoreTime, Quaternion)
        sleep(2)
        sphero.sensor.cancel_notify_sensors()
        sphero.power.enter_soft_sleep()


if __name__ == "__main__":
    main()

Class: Animatronics

source: pysphero/device_api/animatronics.py

*Mandatory

Method	Argument	Return Type
play_animation	*animation_id(int), target_id	None
play_animation_and_wait	*animation_id(int), target_id, timeout(float)	None
perform_leg_action	*leg_action(R2LegAction)	None
set_head_position	*position(float)	None
get_head_position	None	float
set_leg_position	*position(float)	None
get_leg_position	None	float
get_leg_action	None	R2LegAction
stop_animation	None	None
get_trophy_mode_enabled	None	bool