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Artoo adaptor for the Sphero robot.

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Artoo Adaptor For Sphero

This repository contains the Artoo ( adaptor for the Sphero ( robot.

Artoo is a open source micro-framework for robotics using Ruby.

For more information abut Artoo, check out our repo at

Code Climate Build Status


gem install artoo-sphero


require 'artoo'

connection :sphero, :adaptor => :sphero, :port => '/dev/rfcomm0' #linux
device :sphero, :driver => :sphero

work do
  @rolling = false

  every(3.seconds) do
    puts "Rolling..."
    sphero.roll 90, rand(360)

Connecting to Sphero


The main steps are:

  • Pair your computer and the Sphero
  • Find out the sphero bluetooth address
  • Connect to the device via Artoo

First pair your computer and Sphero. You can do this using bluetooth preferences. (Sphero won't stay connected)

Find out serial port address by running this command:

$ ls /dev/tty.Sphero*

Now you are ready to run the example code, be sure to update this line with correct port

connection :sphero, :adaptor => :sphero, :port => '/dev/tty.Sphero-WRW-RN-SPP'


The main steps are:

  • Find out the sphero bluetooth address
  • Pair your computer and the Sphero
  • Map your device to a unix port
  • Connect to the device via Artoo

First pair your computer and Sphero. We do this by finding the sphero bluetooth address and then running Gort´s gort bluetooth pair command, you might be prompted to confirm a passcode. Just accept whatever passcode prompted.

$ gort bluetooth scan
Scanning ...
00:06:66:4A:14:99 Sphero-WRW

After finding the bluetooth address, we pair the device with the computer. The easiest way to do this is to use the gort bluetooth pair command:

$ gort bluetooth pair 00:06:66:4A:14:99

Next, you need to bind the Sphero to the system serial port. In the above example, /dev/Sphero-WRW. Use the gort bluetooth connect command:

$ gort bluetooth connect 00:06:66:4A:14:99 Sphero-WRW

Now you are ready to run the example code, be sure to update this line with correct port.

connection :sphero, :adaptor => :sphero, :port => '/dev/Sphero-WRW'


You should be able to simply pair your Sphero using your normal system tray applet for Bluetooth, and then connect to the COM port that is bound to the device, such as COM3.


Check out our documentation for lots of information about how to use Artoo.


Need more help? Just want to say "Hello"? Come visit us on IRC freenode #artoo


  • All active development is in the dev branch. New or updated features must be added to the dev branch. Hotfixes will be considered on the master branch in situations where it does not alter behaviour or features, only fixes a bug.
  • All patches must be provided under the Apache 2.0 License
  • Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
  • Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
  • We will look at the patch, test it out, and give you feedback.
  • Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
  • Take care to maintain the existing coding style.
  • Add unit tests for any new or changed functionality.
  • All pull requests should be "fast forward"
    • If there are commits after yours use “git rebase -i ”
    • If you have local changes you may need to use “git stash”
    • For git help see progit which is an awesome (and free) book on git

(c) 2012-2014 The Hybrid Group

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