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Sphero-Win-SDK
Windows 8.1 Quick Start Guide
Overview
This project shows Windows 8.1 developers how to integrate Sphero into their Apps and games!
Contents
- Adding the RobotKit.dll to your Visual Studio solution
- Discovering & Connecting Sphero
- Changing Sphero's color
- Using the Sphero UI elements
- Driving Sphero
- Sensor Streaming
Adding RobotKit.dll
From within your solution on Visual Studio 2013
- Right click on References and "Add Reference"
- Choose "Browse" and select the RobotKit.dll
Update Manifest
<wb:DeviceCapability Name="bluetooth.rfcomm">
<wb:Device Id="any">
<wb:Function Type="serviceId:00001101-0000-1000-8000-00805F9B34FB" />
</wb:Device>
</wb:DeviceCapability>
Discovering & Connecting Sphero
private void setupRobot(){
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.DiscoveredRobotEvent += OnRobotDiscovered;
provider.NoRobotsEvent += OnNoRobotsEvent;
provider.ConnectedRobotEvent += OnRobotConnected;
provider.FindRobots();
}
Handle the Events...
private void OnRobotDiscovered(object sender, Robot robot) {
Debug.WriteLine(string.Format("Discovered \"{0}\"", robot.BluetoothName));
if (m_robot == null) {
RobotProvider provider = RobotProvider.GetSharedProvider();
provider.ConnectRobot(robot);
//...
}
}
private void OnNoRobotsEvent(object sender, EventArgs e) {
MessageDialog dialog = new MessageDialog("No Sphero Paired");
//...
}
Changing Sphero's color
Sphero's main LED colors are controlled by web standard RGB. Best practice is to use hex values to stay within the valid range of 0-255.
public void turnSpheroWhite(){
int red = 0xFF;
int green = 0xFF
int blue = 0xFF
m_robot.SetRGBLED(red, green, blue);
}
Using the Sphero UI Elements
From within the BasicDriveApp sample, copy the RobotKitUI code for the Joystick and Calibration controls. Sphero needs to be calibrated so that the 'back LED" is aimed toward the driver. The easiest way to accomplish this is to use the 'CalibrateElement.cs'.
Driving Sphero
Driving Sphero is super simple. Just give it a direction in degrees where 0 is directly ahead and increases clockwise where 90 degrees is right and a velocity between 0.0 and 1.0.
public void hangRightAtHalfSpeed(){
int heading = 90; // right
float velocity = .5; // half speed
m_sphero.Roll(heading, velocity);
}
Sensor Streaming
Sphero is capable of being used as a simple game controller or other input device using it's embedded sensors. Sphero has the following sensors.
- Accelerometer
- Gyrometer
- Location in X,Y from a relative starting point
- Velocity
- Attitude in both Quaternions and Euler angles
Setup
The robot SensorControl manages the listeners for Accelerometer, Gyro, Location, Attitude in Eulers and Quaternion Attitude. The SensorControl.Hz value is between 1 and 400 and affects all sensors.
{
m_robot.SensorControl.Hz = 60; // stream at 60Hz for ALL sensors that are enabled
m_robot.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated;
}
Data Handler
private void OnAccelerometerUpdated(object sender, AccelerometerReading reading) {
// expects AccelerometerX,Y,Z to be defined as fields
AccelerometerX.Text = "" + reading.X;
AccelerometerY.Text = "" + reading.Y;
AccelerometerZ.Text = "" + reading.Z;
}