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Cylon adaptor for Sphero robot
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Cylon.js For Sphero

Cylon.js ( is a JavaScript framework for robotics, physical computing, and the Internet of Things (IoT).

This module provides an adaptor/driver for the Sphero robot from Orbotix ( It uses the Sphero.js module ( from @orbotix thank you!

Want to use Ruby on robots? Check out our sister project Artoo (

Want to use the Go programming language to power your robots? Check out our sister project Gobot (

Build Status Code Climate Test Coverage

How to Install

Install the module with:

$ npm install cylon cylon-sphero

How to Use

Example of a simple program that makes the Sphero roll.

var Cylon = require('cylon');

  connections: {
    sphero: { adaptor: 'sphero', port: '/dev/rfcomm0' }

  devices: {
    sphero: { driver: 'sphero' }

  work: function(my) {
    every((1).second(), function() {
      my.sphero.roll(60, Math.floor(Math.random() * 360));

How to Connect


In order to allow Cylon.js running on your Mac to access the Sphero, go to "Bluetooth > Open Bluetooth Preferences > Sharing Setup" and make sure that "Bluetooth Sharing" is checked.

Thank you to @kopipejst for the above connnection info.

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*

The port will look something like this:


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

connections: {
  sphero: { adaptor: "sphero", port: "/dev/tty.Sphero-BBP-AMP-SPP" }


Connecting to the Sphero from Ubuntu or any other Linux-based OS can be done entirely from the command line using CylonJS CLI commands. Here are the steps.


Find the address of the Sphero, by using:

gort bluetooth scan

Pair to Sphero using this command (substituting the actual address of your Sphero):

gort bluetooth pair <address>

Connect to the Sphero using this command (substituting the actual address of your Sphero):

gort bluetooth connect <address>


Find the address of the Sphero, by using:

hcitool scan

Assuming you've already paired the Sphero through Fedora's bluetooth settings, connect the Sphero using the following command (substituting the actual address of your Sphero):

rfcomm connect 0 <address> 1

This will connect the Sphero to /dev/rfcomm0 as long as the command is running.


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.


The cylon-sphero module is currently compatible with Node.js versions 0.10.x thru 5.x.

In order to install it with Node.js 5.x+, you will need to have g++ v4.8 or higher.

How To Calibrate Sphero

You might want to calibrate the orientation of the Sphero so that it is pointed 'forward'. There are 2 functions that have been added to the Sphero driver to help with this.

Call startCalibration() to put the Sphero into 'calibration mode' by turning on the tail LED and turning off the auto-stablization. You can now manually turn the Sphero to so the tail LED is pointed to the rear of the direction in which you want the Sphero to go.

Call finishCalibration() to turn off 'calibration mode' by turning off the tail LED and turning back on the auto-stablization. Whichever direction that the tail LED was pointed, is now the rear direction for the Sphero.


We're busy adding documentation to our web site at please check there as we continue to work on Cylon.js

Thank you!


For our contribution guidelines, please go to .

Release History

For the release history, please go to .


Copyright (c) 2013-2015 The Hybrid Group. Licensed under the Apache 2.0 license.

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