nova-rbm 0.4.0

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, WiFi mode (mDNS), and Scan mode (auto-discovers robot by scanning your local network).

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

Scan Mode — Auto Network Discovery (Recommended)

The SDK automatically detects your PC's current IP, strips the last number, then scans every address on your subnet (.1 to .254) using WebSocket (primary) and HTTP /status (secondary fallback) in parallel:

from nova_rbm import NovaRobot

bot = NovaRobot(mode="scan")
bot.connect()   # Finds robot automatically — no IP needed!
print(bot.ip)   # e.g. '192.168.29.47'
bot.forward()
bot.stop()
bot.disconnect()

Standalone Scan (returns IP string)

from nova_rbm import scan_network

ip = scan_network()               # auto-detect subnet from your device IP
print(ip)                         # e.g. '192.168.29.47'

# With progress tracking
def progress(scanned, total, current_ip):
    print(f"[{scanned}/{total}] Checking {current_ip}...")

ip = scan_network(on_progress=progress)

WiFi Mode (mDNS + automatic scan fallback)

Tries nova-robot.local first. If mDNS fails, automatically falls back to subnet scan:

from nova_rbm import NovaRobot

bot = NovaRobot(mode="wifi")
bot.connect()   # mDNS first → subnet scan fallback if mDNS fails
print(bot.status())
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")   # Fixed IP: 192.168.4.1
bot.connect()
print(bot.status())
bot.disconnect()

Manual IP Override

bot = NovaRobot(ip="192.168.29.47")
bot.connect()

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Context Manager

Auto-connects, stops motors, and disconnects cleanly:

with NovaRobot(mode="scan") 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 — auto-discovers IP based on mode
disconnect()	Close the connection
reconnect()	Drop and re-establish (re-runs discovery)

Discovery Modes

Mode	Strategy
"ap"	Fixed IP 192.168.4.1 (robot hotspot)
"wifi"	mDNS nova-robot.local/status → subnet scan fallback
"scan"	Detects your device IP, scans entire subnet (WebSocket + HTTP)

scan_network() Parameters

scan_network(
    subnet=None,        # e.g. '192.168.29' — auto-detected if None
    start=1,            # first host octet
    end=254,            # last host octet
    ws_timeout=1.5,     # WebSocket probe timeout per host
    http_timeout=1.5,   # HTTP probe timeout per host
    max_workers=64,     # parallel threads
    on_progress=None,   # callback fn(scanned, total, ip)
)

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, scan_network, fetch_status

ip = discover_robot_ip()          # mDNS discovery
ip = scan_network()               # subnet scan discovery
data = fetch_status("192.168.29.47")

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Full Status Response

{
  "status": "ok",
  "device": "NOVA_A1",
  "wifi_mode": "station",
  "connected_ssid": "MyWiFi",
  "ip_address": "192.168.29.47",
  "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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Changelog

v0.4.0

• New scan_network() — scans local subnet automatically by reading device IP
• New mode="scan" in NovaRobot — fully automatic robot discovery
• mode="wifi" fallback — if mDNS fails, auto-falls back to subnet scan
• Parallel WebSocket + HTTP probes per host for maximum reliability

v0.3.0

• WiFi mode discovery via mDNS (nova-robot.local)
• AP mode support
• Full servo, motor, LED control

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License

MIT