Sphero Mini API for Go

This repository contains a Go package for interfacing with the Sphero Mini using Bluetooth LE.

Example

To interact with the Sphero Mini you need to connect to it using either the devices short name e.g. SM-BA93 or the mac address for the device e.g. 15:DB:E2:E1:D1:77. The following simple example shows how the BluetoothAdapter can be used for this function.

Scanning bluetooth devices:

ad, err := sphero.NewBluetoothAdapter(createLogger())
if err != nil {
	fmt.Printf("Unable to create a bluetooth adapter: %s\n", err)
	os.Exit(1)
}

sr := ad.Scan()

fmt.Printf("%-30s %s\n", "Name", "Mac Address")
fmt.Printf("%-30s %s\n", "-----------------------------", "-----------------")
for r := range sr {
	fmt.Printf("%-30s %s\n", r.Name, r.Address.String())
}

Interacting with the Sphero

// create a new logger
logger := createLogger()

// create a bluetooth adapter
adapter, err := sphero.NewBluetoothAdapter(logger)
if err != nil {
	fmt.Printf("Unable to create a bluetooth adapter: %s\n", err)
	os.Exit(1)
}

// create a new sphero using the Bluetooth short name for the peripheral
ball, err := sphero.NewSphero("SM-34ED", adapter, logger)
if err != nil {
	fmt.Printf("Unable to create a new sphero: %s\n", err)
	os.Exit(1)
}

// Put the ball to sleep, you should always call this method to save battery
defer ball.Sleep()

// enable the backlight, this is useful to see which direction the sphero is headed
ball.EnableBackLight()
time.Sleep(5 * time.Second)

// flash the LED Red, Green, and Blue for 1 second each 
ball.
	SetLEDColor(235, 64, 52).For(1*time.Second).
	SetLEDColor(52, 235, 88).For(1*time.Second).
	SetLEDColor(52, 122, 235).For(1 * time.Second)

time.Sleep(5 * time.Second)

// Roll forward for 1 second, wait 1 second, and then roll back for 1 second
ball.
  Roll(0, 150).For(1*time.Second).
  Wait().For(1*time.Second).
	Roll(180, 150).For(1 * time.Second)

Bluetooth Support

Bluetooth support is limited to that provided by TinyGo Bluetooth at present this support covers the following platforms.

• Mac Intel - Supported but curently unstable
• Mac Arm64 (M1) - Unknown
• Linux Intel - Supported
• Linux Arm64 - Supported
• Windows - Not supported