Control Sphero BB-8 from Linux.

bb8.py

#!/usr/bin/env python

# BB-8 Python driver by Alistair Buxton <a.j.buxton@gmail.com>

from bluepy import btle

import time
import pygame

class BB8(btle.DefaultDelegate):
    def __init__(self, deviceAddress):
        btle.DefaultDelegate.__init__(self)

        # Address type must be "random" or it won't connect.
        self.peripheral = btle.Peripheral(deviceAddress, btle.ADDR_TYPE_RANDOM)
        self.peripheral.setDelegate(self)

        self.seq = 0

        # Attribute UUIDs are identical to Ollie.
        self.antidos = self.getSpheroCharacteristic('2bbd')
        self.wakecpu = self.getSpheroCharacteristic('2bbf')
        self.txpower = self.getSpheroCharacteristic('2bb2')
        self.roll = self.getSpheroCharacteristic('2ba1')
        self.notify = self.getSpheroCharacteristic('2ba6')

        # This startup sequence is also identical to the one for Ollie.
        # It even uses the same unlock code.
        print 'Sending antidos'
        self.antidos.write('011i3', withResponse=True)
        print 'Sending txpower'
        self.txpower.write('\x0007', withResponse=True)
        print 'Sending wakecpu'
        self.wakecpu.write('\x01', withResponse=True)

    def getSpheroCharacteristic(self, fragment):
        return self.peripheral.getCharacteristics(uuid='22bb746f'+fragment+'75542d6f726568705327')[0]

    def dumpCharacteristics(self):
        for s in self.peripheral.getServices():
            print s
            for c in s.getCharacteristics():
                print c, hex(c.handle)

    def cmd(self, did, cid, data=[], answer=True, resetTimeout=True):
        # Commands are as specified in Sphero API 1.50 PDF.
        # https://github.com/orbotix/DeveloperResources/
        seq = (self.seq&255)
        self.seq += 1
        sop2 = 0xfc
        sop2 |= 1 if answer else 0
        sop2 |= 2 if resetTimeout else 0
        dlen = len(data)+1
        chk = (sum(data)+did+cid+seq+dlen)&255
        chk ^= 255

        msg = [0xff, sop2, did, cid, seq, dlen] + data + [chk]
        print 'cmd:', ' '.join([chr(c).encode('hex') for c in msg])
        # Note: withResponse is very important. Most commands won't work without it.
        self.roll.write(''.join([chr(c) for c in msg]), withResponse=True)

    def handleNotification(self, cHandle, data):
        print 'Notification:', cHandle, data.encode('hex')

    def waitForNotifications(self, time):
        self.peripheral.waitForNotifications(time)

    def disconnect(self):
        self.peripheral.disconnect()


if __name__ == '__main__':

    # Connect by address. Use "sudo hcitool lescan" to find address. Replace below address.
    bb = BB8('EE:D7:9A:A7:79:77')

    # Dump all GATT stuff.
    #bb.dumpCharacteristics()

    # Request some sensor stream.
    bb.cmd(0x02, 0x11, [0, 80, 0, 1, 0x80, 0, 0, 0,   0])

    for i in range(255):
        # Set RGB LED colour.
        bb.cmd(0x02, 0x20, [254, i, 2, 0])
        # Wait for streamed data.
        bb.waitForNotifications(1.0)

pygame.display.set_mode((320, 240))
c = pygame.time.Clock()

bb.cmd(0x02, 0x20, [0x10, 0x10, 0x10, 0])
bb.cmd(0x02, 0x21, [0xff])

keys = [False] * 1024
h = 0

# Copied this from a comment from ali1234 on the page for the original bb8.py

while True:
    c.tick(10)
    events = pygame.event.get()
    for event in events:
        if event.type == pygame.KEYDOWN:
            keys[event.key] = True
        elif event.type == pygame.KEYUP:
            keys[event.key] = False

    if keys[pygame.K_UP]:
        v = 100
    elif keys[pygame.K_DOWN]:
        v = 255
    else:
        v = 0

    if keys[pygame.K_LEFT]:
        h -= 15
    elif keys[pygame.K_RIGHT]:
        h += 15
    while h<0:
        h += 360
    while h>359:
        h -= 360
    print h
	
	# Added below key (Q) which will manually disconnect BB-8 on keypress.
	
    if keys[pygame.K_q]:
	bb.disconnect()
	print 'Disconnected!'
	break

    bb.cmd(0x02, 0x30, [v, (h&0xff00)>>8, h&0xff, 1])