nova-rbm 0.3.0

Python SDK to control NOVA A1 Robot — AP & WiFi mode, auto-discovery, live status

NOVA RBM — Robot Base Module

Python SDK to control the NOVA A1 robot via WebSocket.
Supports AP mode (direct hotspot) and WiFi mode (auto-discovery via mDNS).

Installation

pip install nova-rbm

Or install from source:

git clone https://github.com/nadhilrobomiracle/nova_rbm.git
cd nova-rbm
pip install -e .

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Quick Start

WiFi Mode (robot on your home network)

The SDK discovers the robot automatically via nova-robot.local/status:

from nova_rbm import NovaRobot

bot = NovaRobot(mode="wifi")
bot.connect()

# Check robot status
print(bot.status())          # Full status dict
print(bot.servo_angles())    # {1: 75, 2: 90, 3: 85, 4: 80, 5: 110}
print(bot.motor_state())     # {'state': 'stop', 'speed': 180}
print(bot.led_color())       # {'r': 0, 'g': 0, 'b': 255}
print(bot.wifi_info())       # {'wifi_mode': 'station', 'connected_ssid': '...', ...}

bot.disconnect()

AP Mode (robot's own hotspot)

Connect your computer to the NOVA_A1 WiFi, then:

from nova_rbm import NovaRobot

bot = NovaRobot(mode="ap")   # Uses 192.168.4.1
bot.connect()
print(bot.status())
bot.disconnect()

Manual IP Override

bot = NovaRobot(ip="192.168.1.42")
bot.connect()

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Context Manager

Auto-connects, auto-stops motors, and auto-disconnects:

with NovaRobot(mode="wifi") as bot:
    bot.forward()
    bot.set_speed(200)
    import time; time.sleep(2)
    # stop() and disconnect() called automatically

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API Reference

Connection

Method	Description
connect()	Open WebSocket (discovers IP in WiFi mode)
disconnect()	Close the connection
reconnect()	Drop and re-establish (re-discovers in WiFi mode)

Status & Telemetry

Method	Returns
status()	Full status dict from /status endpoint
servo_angles()	{1: angle, 2: angle, ..., 5: angle}
motor_state()	{'state': 'stop', 'speed': 180}
led_color()	{'r': 0, 'g': 0, 'b': 255}
wifi_info()	{'wifi_mode': ..., 'connected_ssid': ..., 'ip_address': ..., 'rssi_dbm': ...}

Movement

Method	Description
forward()	Drive forward
backward()	Drive backward
left()	Spin left
right()	Spin right
stop()	Stop all motors
set_speed(0–255)	Set motor speed

Servo Control

Method	Description
set_servo(servo, angle)	Move servo 1-5 to angle (enforces firmware limits)
set_all_servos({1: 60, 3: 100})	Set multiple servos at once
reset_servos()	Reset all servos to defaults
get_servo_limits()	Returns min/max/default for each servo

Servo limits (from firmware):

Servo	Min	Max	Default
S1	50	75	75
S2	90	145	90
S3	35	150	85
S4	20	80	80
S5	110	135	110

LED Control

Method	Description
set_rgb(r, g, b)	Set LED strip color (0-255 each)
set_color("red")	Set by name: red, green, blue, white, off, cyan, magenta, yellow, orange, purple, pink

Standalone Utilities

from nova_rbm import discover_robot_ip, fetch_status

# Discover without creating a robot object
ip = discover_robot_ip()
print(f"Robot found at {ip}")

# Fetch status from any IP
data = fetch_status("192.168.4.1")
print(data)

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Full Status Response

The /status endpoint returns:

{
  "status": "ok",
  "device": "NOVA_A1",
  "wifi_mode": "station",
  "connected_ssid": "MyWiFi",
  "ip_address": "192.168.1.42",
  "rssi_dbm": -45,
  "uptime_s": 1234,
  "ws_clients": 1,
  "motor": { "state": "stop", "speed": 180 },
  "led": { "r": 0, "g": 0, "b": 255 },
  "servos": { "s1": 75, "s2": 90, "s3": 85, "s4": 80, "s5": 110 }
}

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License

MIT