pycozmo 0.2.0

A pure-Python Anki Cozmo communication library.

PyCozmo

PyCozmo is a pure-Python Anki Cozmo communication library. It allows controlling a Cozmo robot directly, without having to go through a mobile device, running the Cozmo app.

The library is loosely based on the Anki Cozmo Python SDK and the cozmoclad library.

This project is a tool for exploring the hardware and software of Anki Cozmo. It is unstable and heavily under development.

Usage

import time
import pycozmo

cli = pycozmo.Client()
cli.start()
cli.connect()

pkt = pycozmo.protocol_encoder.DriveWheels(lwheel_speed_mmps=50.0, rwheel_speed_mmps=50.0) 
cli.send(pkt)
time.sleep(2.0)
pkt = pycozmo.protocol_encoder.StopAllMotors()
cli.send(pkt)

cli.send_disconnect()

Documentation

• Cozmo protocol description
• Capturing Cozmo communication

Tools

• pycozmo_dump.py - a command-line application that can read and annotate Cozmo communication from pcap files

Examples

• rc.py - turns Cozmo into an RC tank that can be driven with an XBox 360 Wireless Controller
• extremes.py - demonstrates Cozmo lift and head control
• backpack_lights.py - demonstrates Cozmo backpack LED control
• display.py - demonstrates low-level visualization of images on Cozmo's display
• audio.py - demonstrates 22 kHz, 8-bit, mono WAVE file playback through Cozmo's speaker

Robot Support

Sensors:

• Camera - work in progress
• Cliff sensor - not supported
• Accelerometers - not supported
• Gyro - not supported
• Battery voltage - not supported
• Cube battery voltage - not supported
• Cube accelerometers - not supported

Actuators:

• Wheel motors - supported
• Head motor - supported
• Lift motor - supported
• Backpack LEDs - supported
• IR LED - supported
• OLED display - work in progress
• Speaker - supported
• Cube LEDs - not supported

Communication:

• Wi-Fi AP - supported
• Bluetooth LE - not supported

Limitations

• there is no Wi-Fi control. The library assumes a Wi-Fi connection to Cozmo, established in advance.
• frame retransmission is not implemented
• transmission of multiple packets in a single frame is not implemented

Requirements

• Python 3.5

Installation

Using pip:

pip install pycozmo

From source:

git clone https://github.com/zayfod/pycozmo.git
cd pycozmo
python setup.py install

Bugs

Bug reports and patches should be sent via GitHub:

https://github.com/zayfod/pycozmo