Commands

abortMacro

The Abort Macro command aborts any executing macro, and returns both it's ID code and the command number currently in progress.

An exception is a System Macro executing with the UNKILLABLE flag set.

A returned ID code of 0x00 indicates that no macro was running, an ID code of 0xFFFF as the CmdNum indicates the macro was unkillable.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

abortOrbBasicProgram

The Abort orbBasic Program command aborts execution of any currently running orbBasic program.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

appendMacroChunk

The Append Macro Chunk project stores the attached macro definition into the temporary RAM buffer for later execution.

It's similar to the Save Temporary Macro command, but allows building up longer temporary macros.

Any existing Macro ID can be sent through this command, and executed through the Run Macro call using ID 0xFF.

If this command is sent while a Temporary or Stream Macro is executing it will be terminated so that its storage space can be overwritten. As with all macros, the longest chunk that can be sent is 254 bytes.

You must follow this with a Run Macro command (ID 0xFF) to actually get it to go and it is best to prefix this command with an Abort call to make certain the larger buffer is completely initialized.

Params

• chunk (Array) of bytes to append for macro execution

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

appendOrbBasicFragment

The Append orbBasic Fragment command appends a patch of orbBasic code to existing ones in the specified storage area (0x00 for RAM, 0x01 for persistent).

Complete lines are not required. A line begins with a decimal line number followed by a space and is terminated with a .

See the orbBasic Interpreter document for complete information.

Possible error responses would be ORBOTIX_RSP_CODE_EPARAM if an illegal storage area is specified or ORBOTIX_RSP_CODE_EEXEC if the specified storage area is full.

Params

• area (Number) which area to append the fragment to

• code (String) orbBasic code to append

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

assignTime

The Assign Time command sets a specific value to Sphero's internal 32-bit relative time counter.

Params

• time (Number) the new value to set

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

boost

The Boost command executes Sphero's boost macro.

It takes a 1-byte parameter, 0x01 to start boosting, or 0x00 to stop.

Params

• boost (Number) whether or not to boost (1 - yes, 0 - no)

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

clearCounters

The Clear Counters command is a developer-only command to clear the various system counters created by the L2 diagnostics.

It is denied when the Sphero is in Normal mode.

Params

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

color

The Color command wraps Sphero's built-in setRgb command, allowing for a greater range of possible inputs.

Params

• color (Number,String

  Object) what color to change Sphero to

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

commitToFlash

The Commit To Flash command copies the current orbBasic RAM program to persistent flash storage.

It will fail if a program is currently executing out of flash.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

configureCollisions

The Configure Collisions command configures Sphero's collision detection with the provided parameters.

These include:

• meth - which detection method to use. Supported methods are 0x01, 0x02, and 0x03 (see the collision detection document for details). 0x00 disables this service.
• xt, yt - 8-bit settable threshold for the X (left, right) and y (front, back) axes of Sphero. 0x00 disables the contribution of that axis.
• xs, ys - 8-bit settable speed value for X/Y axes. This setting is ranged by the speed, than added to xt and yt to generate the final threshold value.
• dead - an 8-bit post-collision dead time to prevent re-triggering. Specified in 10ms increments.

Params

• opts (Object) object containing collision configuration opts

• cb (Function) function to be triggered after writing

Returns

• (undefined)

---

configureLocator

The Configure Locator command configures Sphero's streaming location data service.

The following options must be provided:

• flags - bit 0 determines whether calibrate commands auto-correct the yaw tare value. When false, positive Y axis coincides with heading 0. Other bits are reserved.
• x, y - the current (x/y) coordinates of Sphero on the ground plane in centimeters
• yawTare - controls how the x,y-plane is aligned with Sphero's heading coordinate system. When zero, yaw = 0 corresponds to facing down the y-axis in the positive direction. Possible values are 0-359 inclusive.

Params

• opts (Object) object containing locator service configuration

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

controlUartTx

The Control UART Tx command enables or disables the CPU's UART transmit line so another client can configure the Bluetooth module.

Params

• callback (Function) function to be triggered after write

Returns

• (undefined)

---

detectCollisions

The Detect Collisions command sets up Sphero's collision detection system, and automatically parses asynchronous packets to re-emit collision events to 'collision' event listeners.

Params

• callback (Function) (err, data) to be triggered with response

Returns

• (undefined)

---

enableSsbAsyncMsg

The Enable SSB Async Messages command turns on/off soul block related asynchronous messages.

These include shield collision/regrowth messages, boost use/regrowth messages, XP growth, and level-up messages.

This feature defaults to off.

Params

• flag (Number) whether or not to enable async messages

• callback (Function) function to be triggered after write

Returns

• (undefined)

---

eraseOrbBasicStorage

The Erase orbBasic Storage command erases any existing program in the specified storage area.

Specify 0x00 for the temporary RAM buffer, or 0x01 for the persistent storage area.

Params

• area (Number) which area to erase

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

executeOrbBasicProgram

The Execute orbBasic Program command attempts to run a program in the specified storage area, beginning at the specified line number.

This command will fail if there is already an orbBasic program running.

Params

• area (Number) which area to run from

• slMSB (Number) start line

• slLSB (Number) start line

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

finishCalibration

The Finish Calibration command ends Sphero's calibration mode, by setting the new heading as current, turning off the back LED, and re-enabling stabilization.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

getAutoReconnect

The Get Auto Reconnect command returns the Bluetooth auto reconnect values as defined above in the Set Auto Reconnect command.

Params

• callback (Function) function to be triggered with reconnect data

Returns

• (undefined)

---

getBluetoothInfo

Triggers the callback with a structure containing

• Sphero's ASCII name
• Sphero's Bluetooth address (ASCII)
• Sphero's ID colors

Params

• callback (Function) function to be triggered with Bluetooth info

Returns

• (undefined)

---

getChassisId

The Get Chassis ID command returns the 16-bit chassis ID Sphero was assigned at the factory.

Params

• callback (Function) function to be triggered with a response

Returns

• (undefined)

---

getColor

Passes the color of the sphero Rgb LED to the callback (err, data)

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

getConfigBlock

The Get Configuration Block command retrieves one of Sphero's configuration blocks.

The response is a simple one; an error code of 0x08 is returned when the resources are currently unavailable to send the requested block back. The actual configuration block data returns in an asynchronous message of type 0x04 due to its length (if there is no error).

ID = 0x00 requests the factory configuration block ID = 0x01 requests the user configuration block, which is updated with current values first

Params

• id (Number) which configuration block to fetch

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

getDeviceMode

The Get Device Mode command gets the current device mode of Sphero.

Possible values:

• 0x00: Normal mode
• 0x01: User Hack mode.

Params

• callback (Function) function to be called with response

Returns

• (undefined)

---

getMacroStatus

The Get Macro Status command returns the ID code and command number of the currently executing macro.

If no macro is running, the 0x00 is returned for the ID code, and the command number is left over from the previous macro.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

getPermOptionFlags

The Get Permanent Option Flags command returns Sphero's permanent option flags, as a bit field.

Here's possible bit fields, and their descriptions:

• 0: Set to prevent Sphero from immediately going to sleep when placed in the charger and connected over Bluetooth.
• 1: Set to enable Vector Drive, that is, when Sphero is stopped and a new roll command is issued it achieves the heading before moving along it.
• 2: Set to disable self-leveling when Sphero is inserted into the charger.
• 3: Set to force the tail LED always on.
• 4: Set to enable motion timeouts (see DID 02h, CID 34h)
• 5: Set to enable retail Demo Mode (when placed in the charger, ball runs a slow rainbow macro for 60 minutes and then goes to sleep).
• 6: Set double tap awake sensitivity to Light
• 7: Set double tap awake sensitivity to Heavy
• 8: Enable gyro max async message (NOT SUPPORTED IN VERSION 1.47)
• 6-31: Unassigned

Params

• callback (Function) function triggered with option flags data

Returns

• (undefined)

---

getPowerState

The Get Power State command returns Sphero's current power state, and some additional parameters:

• RecVer: record version code (following is for 0x01)
• Power State: high-level state of the power system
• BattVoltage: current battery voltage, scaled in 100ths of a volt (e.g. 0x02EF would be 7.51 volts)
• NumCharges: Number of battery recharges in the life of this Sphero
• TimeSinceChg: Seconds awake since last recharge

Possible power states:

• 0x01 - Battery Charging
• 0x02 - Battery OK
• 0x03 - Battery Low
• 0x04 - Battery Critical

Params

• callback (Function) function to be triggered with power state data

Returns

• (undefined)

---

getRgbLed

The Get RGB LED command fetches the current "user LED color" value, stored in Sphero's configuration.

This value may or may not be what's currently displayed by Sphero's LEDs.

Params

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

getSsb

The Get SSB command retrieves Sphero's Soul Block.

The response is simple, and then the actual block of soulular data returns in an asynchronous message of type 0x0D, due to it's 0x440 byte length

Params

• callback (Function) function to be called with response

Returns

• (undefined)

---

getTempOptionFlags

The Get Temporary Option Flags command returns Sphero's temporary option flags, as a bit field:

• 0: Enable Stop On Disconnect behavior
• 1-31: Unassigned

Params

• callback (Function) function triggered with option flags data

Returns

• (undefined)

---

getVoltageTripPoints

The Get Voltage Trip Points command returns the trip points Sphero uses to determine Low battery and Critical battery.

The values are expressed in 100ths of a volt, so defaults of 7V and 6.5V respectively are returned as 700 and 650.

Params

• callback (Function) function to be triggered with trip point data

Returns

• (undefined)

---

jumpToBootloader

The Jump To Bootloader command requests a jump into the Bootloader to prepare for a firmware download.

All commands after this one must comply with the Bootloader Protocol Specification.

Params

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

ping

The Ping command verifies the Sphero is awake and receiving commands.

Params

• callback (Function) triggered when Sphero has been pinged

Returns

• (undefined)

---

pollPacketTimes

The Poll Packet Times command helps users profile the transmission and processing latencies in Sphero.

For more details, see the Sphero API documentation.

Params

• time (Number) a timestamp to use for profiling

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

randomColor

The Random Color command sets Sphero to a randomly-generated color.

Params

• callback (Function) (err, data) to be triggered with response

Returns

• (undefined)

---

reInitMacroExec

The Reinit Macro Executive command terminates any running macro, and reinitializes the macro system.

The table of any persistent user macros is cleared.

Params

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

readLocator

The Read Locator command gets Sphero's current position (X,Y), component velocities, and speed-over-ground (SOG).

The position is a signed value in centimeters, the component velocities are signed cm/sec, and the SOG is unsigned cm/sec.

Params

• callback (Function) function to be triggered with data

Returns

• (undefined)

---

roll

The Roll command tells Sphero to roll along the provided vector.

Both a speed and heading are required, the latter is considered relative to the last calibrated direction.

Permissible heading values are 0 to 359 inclusive.

Params

• speed (Number) what speed Sphero should roll at

• heading (Number) what heading Sphero should roll towards (0-359)

• [state] (Number) optional state parameter

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

runL1Diags

The Perform Level 1 Diagnostics command is a developer-level command to help diagnose aberrant behaviour in Sphero.

Most process flags, system counters, and system states are decoded to human-readable ASCII.

For more details, see the Sphero API documentation.

Params

• callback (Function) function to be triggered with diagnostic data

Returns

• (undefined)

---

runL2Diags

The Perform Level 2 Diagnostics command is a developer-level command to help diagnose aberrant behaviour in Sphero.

It's much less informative than the Level 1 command, but is in binary format and easier to parse.

For more details, see the Sphero API documentation.

Params

• callback (Function) function to be triggered with diagnostic data

Returns

• (undefined)

---

runMacro

The Run Macro command attempts to execute the specified macro.

Macro IDs are split into groups:

0-31 are System Macros. They are compiled into the Main Application, and cannot be deleted. They are always available to run.

32-253 are User Macros. They are downloaded and persistently stored, and can be deleted in total.

255 is the Temporary Macro, a special user macro as it is held in RAM for execution.

254 is also a special user macro, called the Stream Macro that doesn't require this call to begin execution.

This command will fail if there is a currently executing macro, or the specified ID code can't be found.

Params

• id (Number) 8-bit Macro ID to run

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

saveMacro

Save macro

The Save Macro command stores the attached macro definition into the persistent store for later execution. This command can be sent even if other macros are executing.

You will receive a failure response if you attempt to send an ID number in the System Macro range, 255 for the Temp Macro and ID of an existing user macro in the storage block.

As with all macros, the longest definition that can be sent is 254 bytes.

Params

• macro (Array) array of bytes with the data to be written

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

saveTempMacro

The Save Temporary Macro stores the attached macro definition into the temporary RAM buffer for later execution.

If this command is sent while a Temporary or Stream Macro is executing it will be terminated so that its storage space can be overwritten. As with all macros, the longest definition that can be sent is 254 bytes.

Params

• macro (Array) array of bytes with the data to be written

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

selfLevel

The Self Level command controls Sphero's self-level routine.

This routine attempts to achieve a horizontal orientation where pitch/roll angles are less than the provided Angle Limit.

After both limits are satisfied, option bits control sleep, final angle(heading), and control system on/off.

An asynchronous message is returned when the self level routine completes.

For more detail on opts param, see the Sphero API documentation.

opts: - angleLimit: 0 for defaul, 1 - 90 to set. - timeout: 0 for default, 1 - 255 to set. - trueTime: 0 for default, 1 - 255 to set. - options: bitmask 4bit e.g. 0xF; };

Params

• opts (Object) self-level routine options

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setAccelRange

The Set Accelerometer Range command tells Sphero what accelerometer range to use.

By default, Sphero's solid-state accelerometer is set for a range of ±8Gs. You may wish to change this, perhaps to resolve finer accelerations.

This command takes an index for the supported range, as explained below:

• 0: ±2Gs
• 1: ±4Gs
• 2: ±8Gs (default)
• 3: ±16Gs

Params

• idx (Number) what accelerometer range to use

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setAutoReconnect

The Set Auto Reconnect command tells Sphero's BT module whether or not it should automatically reconnect to the previously-connected Apple mobile device.

Params

• flag (Number) whether or not to reconnect (0 - no, 1 - yes)

• time (Number) how many seconds after start to enable auto reconnect

• callback (Function) function to be triggered after write

Returns

• (undefined)

---

setBackLed

The Set Back LED command allows brightness adjustment of Sphero's tail light.

This value does not persist across power cycles.

Params

• brightness (Number) brightness to set to Sphero's tail light

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setChassisId

The Set Chassis ID command assigns Sphero's chassis ID, a 16-bit value.

This command only works if you're at the factory.

Params

• chassisId (Number) new chassis ID

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setConfigBlock

The Set Config Block command accepts an exact copy of the configuration block, and loads it into the RAM copy of the configuration block.

The RAM copy is then saved to flash.

The configuration block can be obtained by using the Get Configuration Block command.

Params

• block (Array) - An array of bytes with the data to be written

• callback (Function) - To be triggered when done

Returns

• (undefined)

---

setDataStreaming

The Set Data Streaming command configures Sphero's built-in support for asynchronously streaming certain system and sensor data.

This command selects the internal sampling frequency, packet size, parameter mask, and (optionally) the total number of packets.

These options are provided as an object, with the following properties:

• n - divisor of the maximum sensor sampling rate
• m - number of sample frames emitted per packet
• mask1 - bitwise selector of data sources to stream
• pcnt - packet count 1-255 (or 0, for unlimited streaming)
• mask2 - bitwise selector of more data sources to stream (optional)

For more explanation of these options, please see the Sphero API documentation.

Params

• opts (Object) object containing streaming data options

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setDeviceMode

The Set Device Mode command assigns the operation mode of Sphero based on the supplied mode value.

• 0x00: Normal mode
• 0x01: User Hack mode. Enables ASCII shell commands, refer to the associated document for details.

Params

• mode (Number) which mode to set Sphero to

• callback (Function) function to be called after writing

Returns

• (undefined)

---

setDeviceName

The Set Device Name command assigns Sphero an internal name. This value is then produced as part of the Get Bluetooth Info command.

Names are clipped at 48 characters to support UTF-8 sequences. Any extra characters will be discarded.

This field defaults to the Bluetooth advertising name of Sphero.

Params

• name (String) what name to give to the Sphero

• callback (Function) function to be triggered when the name is set

Returns

• (undefined)

---

setHeading

The Set Heading command tells Sphero to adjust it's orientation, by commanding a new reference heading (in degrees).

If stabilization is enabled, Sphero will respond immediately to this.

Params

• heading (Number) Sphero's new reference heading, in degrees (0-359)

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setInactivityTimeout

The Set Inactivity Timeout command sets the timeout delay before Sphero goes to sleep automatically.

By default, the value is 600 seconds (10 minutes), but this command can alter it to any value of 60 seconds or greater.

Params

• time (Number) new delay before sleeping

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

setMacroParam

The Set Macro Parameter command allows system globals that influence certain macro commands to be selectively altered from outside of the macro system itself.

The values of Val1 and Val2 depend on the parameter index.

Possible indices:

• 00h Assign System Delay 1: Val1 = MSB, Val2 = LSB
• 01h Assign System Delay 2: Val1 = MSB, Val2 = LSB
• 02h Assign System Speed 1: Val1 = speed, Val2 = 0 (ignored)
• 03h Assign System Speed 2: Val1 = speed, Val2 = 0 (ignored)
• 04h Assign System Loops: Val1 = loop count, Val2 = 0 (ignored)

For more details, please refer to the Sphero Macro document.

Params

• index (Number) what parameter index to use

• val1 (Number) value 1 to set

• val2 (Number) value 2 to set

• callback (Function) function to be triggered with response

Returns

• (undefined)

---

setMotionTimeout

The Set Motion Timeout command gives Sphero an ultimate timeout for the last motion command to keep Sphero from rolling away in the case of a crashed (or paused) application.

This defaults to 2000ms (2 seconds) upon wakeup.

Params

• time (Number) timeout length in milliseconds

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

setPermOptionFlags

The Set Permanent Option Flags command assigns Sphero's permanent option flags to the provided values, and writes them immediately to the config block.

See below for the bit definitions.

Params

• flags (Array) permanent option flags

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

setPowerNotification

The Set Power Notification command enables sphero to asynchronously notify the user of power state periodically (or immediately, when a change occurs)

Timed notifications are sent every 10 seconds, until they're disabled or Sphero is unpaired.

Params

• flag (Number) whether or not to send notifications (0 - no, 1 - yes)

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

setRawMotors

The Set Raw Motors command allows manual control over one or both of Sphero's motor output values.

Each motor (left and right requires a mode and a power value from 0-255.

This command will disable stabilization is both mode's aren't "ignore", so you'll need to re-enable it once you're done.

Possible modes:

• 0x00: Off (motor is open circuit)
• 0x01: Forward
• 0x02: Reverse
• 0x03: Brake (motor is shorted)
• 0x04: Ignore (motor mode and power is left unchanged

Params

• opts (Object) object with mode/power values (e.g. lmode, lpower)

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setRgbLed

The Set RGB LED command sets the colors of Sphero's RGB LED.

An object containaing red, green, and blue values must be provided.

If opts.flag is set to 1 (default), the color is persisted across power cycles.

Params

• opts (Object) object containing RGB values for Sphero's LED

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setRotationRate

The Set Rotation Rate command allows control of the rotation rate Sphero uses to meet new heading commands.

A lower value offers better control, but with a larger turning radius.

Higher values yield quick turns, but Sphero may lose control.

The provided value is in units of 0.784 degrees/sec.

Params

• rotation (Number) new rotation rate (0-255)

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setStabilization

The Set Stabilization command turns Sphero's internal stabilization on or off, depending on the flag provided.

Params

• flag (Number) stabilization setting flag (0 - off, 1 - on)

• callback (Function) function to be triggered after writing

Returns

• (undefined)

---

setTempOptionFlags

The Set Temporary Option Flags command assigns Sphero's temporary option flags to the provided values. These do not persist across power cycles.

See below for the bit definitions.

Params

• flags (Array) permanent option flags

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

setVoltageTripPoints

The Set Voltage Trip Points command assigns the voltage trip points for Low and Critical battery voltages.

Values are specified in 100ths of a volt, and there are limitations on adjusting these from their defaults:

• vLow must be in the range 675-725
• vCrit must be in the range 625-675

There must be 0.25v of separation between the values.

Shifting these values too low can result in very little warning before Sphero forces itself to sleep, depending on the battery pack. Be careful.

Params

• vLow (Number) new voltage trigger for Low battery

• vCrit (Number) new voltage trigger for Crit battery

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

sleep

The Sleep command puts Sphero to sleep immediately.

Params

• wakeup (Number) the number of seconds for Sphero to re-awaken after. 0x00 tells Sphero to sleep forever, 0xFFFF attemps to put Sphero into deep sleep.

• macro (Number) if non-zero, Sphero will attempt to run this macro ID when it wakes up

• orbBasic (Number) if non-zero, Sphero will attempt to run an orbBasic program from this line number

• callback (Function) function to be triggered when done writing

Returns

• (undefined)

---

startCalibration

The Start Calibration command sets up Sphero for manual heading calibration.

It does this by turning on the tail light (so you can tell where it's facing) and disabling stabilization (so you can adjust the heading).

When done, call #finishCalibration to set the new heading, and re-enable stabilization.

Params

• callback (Function) (err, data) to be triggered with response

Returns

• (undefined)

---

stop

Stops sphero the optimal way by setting flag 'go' to 0 and speed to a very low value.

Params

• callback (Function) triggered on complete

Returns

• (undefined)

---

stopOnDisconnect

The Stop On Disconnect command sends a flag to Sphero. This flag tells Sphero whether or not it should automatically stop when it detects that it's disconnected.

Params

• [remove=false] (Boolean) whether or not to stop on disconnect

• callback (Function) triggered on complete

Returns

• (undefined)

---

streamAccelOne

Starts streaming of accelOne data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or accelOne event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamAccelerometer

Starts streaming of accelerometer data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or accelerometer event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamData

Generic Data Streaming setup, using Sphero's setDataStraming command.

Users need to listen for the dataStreaming event, or a custom event, to get the data.

Params

• args (Object) event, masks, fields, and sps data

Returns

• (undefined)

---

streamGyroscope

Starts streaming of gyroscope data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or gyroscope event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamImuAngles

Starts streaming of IMU angles data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or imuAngles event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamMotorsBackEmf

Starts streaming of motor back EMF data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or motorsBackEmf event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamOdometer

Starts streaming of odometer data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or odometer event to get the data.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

---

streamVelocity

Starts streaming of velocity data

It uses sphero's data streaming command. User needs to listen for the dataStreaming or velocity event to get the velocity values.

Params

• [sps=5] (Number) samples per second

• [remove=false] (Boolean) forces velocity streaming to stop

Returns

• (undefined)

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submitValueToInput

The Submit value To Input command takes the place of the typical user console in orbBasic and allows a user to answer an input request.

If there is no pending input request when this API command is sent, the supplied value is ignored without error.

Refer to the orbBasic language document for further information.

Params

• val (Number) value to respond with

• callback (Function) function to be triggered with response

Returns

• (undefined)

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version

The Version command returns a batch of software and hardware information about Sphero.

Params

• callback (Function) triggered with version information

Returns

• (undefined)

Note: for more information about the documentation of the Sphero driver click here.

Events

disconnect

Emitted when the connection to the Sphero is closed

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disconnect

Emitted when the connection to the Sphero is closed

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error

Emitted when Sphero encounters an error

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message

Emitted when Sphero sends a message through the serial port

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notification

Emitted when Sphero sends a notification through the serial port

Values

• packet

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data

Emitted when Sphero sends a notification through the serial port that contains data

Values

• data

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collision

Emitted when Sphero detects a collision

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collision

Emitted when Sphero receives a version response

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collision

Emitted when Sphero receives getBluetoothInfo response

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collision

Emitted when Sphero receives autoRecoonect response

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collision

Emitted when Sphero receives power state response

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collision

Emitted when Sphero receives voltage trip points response

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collision

Emitted when Sphero receives level2diags response

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collision

Emitted when Sphero receives packetTimes

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collision

Emitted when Sphero receives chassisId response

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collision

Emitted when Sphero receives read locator response

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collision

Emitted when Sphero receives read rgb color response

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collision

Emitted when Sphero receives perm option flags response

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collision

Emitted when Sphero receives temp option flags response

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collision

Emitted when Sphero receives device mode response

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collision

Emitted when Sphero receives abort macro response

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collision

Emitted when Sphero receives macro status response

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collision

Emitted when Sphero receives battery status response

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collision

Emitted when Sphero receives level 1 diasgs async msg

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collision

Emitted when Sphero receives data streaming async msg

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collision

Emitted when Sphero receives config block async msg

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collision

Emitted when Sphero receives pre sleep warning async msg

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collision

Emitted when Sphero receives macro markers async msg

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collision

Emitted when Sphero receives orb basic print msg

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collision

Emitted when Sphero receives orb basic ascii error msg

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collision

Emitted when Sphero receives orb basic error msg

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collision

Emitted when Sphero receives self level async msg

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collision

Emitted when Sphero receives gyro axis exceeded async msg