sphero-rvr-mcp 0.1.0

MCP server for controlling Sphero RVR with Claude AI

Sphero RVR MCP Server

An MCP (Model Context Protocol) server that enables Claude AI to control a Sphero RVR robot. Run this on a Raspberry Pi connected to your RVR, and use Claude Code to drive, control LEDs, read sensors, and more.

Features

• Full RVR Control: Movement, LEDs, sensors, battery monitoring, IR communication
• Safety System: Configurable speed limits, auto-stop timeout, emergency stop
• Sensor Streaming: Background streaming with cached data access
• Natural Language Control: Let Claude drive your robot with conversational commands

Requirements

• Raspberry Pi 3 or newer (connected to Sphero RVR via serial)
• Python 3.10.19 (required for Sphero SDK compatibility)
• Sphero RVR with serial connection to Pi
• Internet connection (for Claude Code API access)

Installation

1. Clone the Sphero SDK

The Sphero SDK is not available on PyPI and must be installed manually:

cd ~
git clone https://github.com/sphero-inc/sphero-sdk-raspberrypi-python.git

2. Install the MCP Server

Option A: Install from PyPI (recommended)

pip install sphero-rvr-mcp

# Add Sphero SDK to Python path (add to ~/.bashrc for persistence)
export PYTHONPATH="${PYTHONPATH}:${HOME}/sphero-sdk-raspberrypi-python"

Option B: Install from source

cd /path/to/sphero_development

# Install the package in development mode
pip install -e .

# Add Sphero SDK to Python path (add to ~/.bashrc for persistence)
export PYTHONPATH="${PYTHONPATH}:${HOME}/sphero-sdk-raspberrypi-python"

3. Verify Installation

Run the pre-flight check to verify everything is set up correctly:

sphero-rvr-mcp --check

This will verify:

• Python version (requires 3.10+)
• Sphero SDK is installed
• FastMCP is installed
• Serial port exists and is accessible
• Current configuration settings

4. Install Claude Code

# Install Node.js if not already installed
curl -fsSL https://deb.nodesource.com/setup_lts.x | sudo -E bash -
sudo apt-get install -y nodejs

# Install Claude Code
npm install -g @anthropic-ai/claude-code

5. Configure Claude Code

Create or edit ~/.claude.json (replace <your-home-dir> with your home path, e.g., /home/pi):

{
  "mcpServers": {
    "sphero-rvr": {
      "type": "stdio",
      "command": "python",
      "args": ["-m", "sphero_rvr_mcp"],
      "env": {
        "PYTHONPATH": "<your-home-dir>/sphero-sdk-raspberrypi-python"
      }
    }
  }
}

Or use the CLI:

claude mcp add sphero-rvr -c "python -m sphero_rvr_mcp"

Configuration

Environment variables (optional):

Variable	Default	Description
RVR_SERIAL_PORT	/dev/ttyS0	Serial port for RVR
RVR_MAX_SPEED_PERCENT	50	Default speed limit (0-100)
RVR_COMMAND_TIMEOUT	5.0	Auto-stop timeout in seconds
RVR_SENSOR_INTERVAL	250	Sensor streaming interval (ms)

Usage

Start Claude Code

claude

Example Commands

Once Claude Code is running with the MCP server connected:

You: Connect to the RVR

You: Drive forward slowly for 2 seconds then stop

You: Set all LEDs to blue

You: What's the battery level?

You: Start streaming the accelerometer and gyroscope sensors

You: Turn left 90 degrees

You: Emergency stop!

Available Tools

Connection (3 tools)

Tool	Description
connect	Connect to RVR and wake it up
disconnect	Safely disconnect
get_connection_status	Get connection state, uptime, firmware

Movement (10 tools)

Tool	Description
drive_with_heading	Drive at speed toward heading (0-359°)
drive_tank	Tank drive with left/right velocities (m/s)
drive_rc	RC-style with linear + yaw velocity
drive_to_position	Drive to X,Y coordinates
stop	Normal stop (optional deceleration)
emergency_stop	Immediate stop, blocks movement
clear_emergency_stop	Allow movement after e-stop
reset_yaw	Set current heading as 0°
reset_locator	Set current position as origin

LEDs (3 tools)

Tool	Description
set_all_leds	Set all LEDs to RGB color
set_led	Set specific LED group to RGB
turn_leds_off	Turn off all LEDs

LED groups: headlight_left, headlight_right, brakelight_left, brakelight_right, status_indication_left, status_indication_right, battery_door_front, battery_door_rear, power_button_front, power_button_rear, undercarriage_white

Sensors (5 tools)

Tool	Description
start_sensor_streaming	Start background sensor streaming
stop_sensor_streaming	Stop all streaming
get_sensor_data	Get cached sensor readings
get_ambient_light	Query light sensor directly
get_color_detection	Query color sensor directly

Streamable sensors: accelerometer, gyroscope, imu, locator, velocity, speed, quaternion, color_detection, ambient_light, encoders, core_time

Battery & System (3 tools)

Tool	Description
get_battery_status	Battery percentage, voltage, state
get_motor_temperatures	Motor thermal status
get_system_info	MAC, firmware, uptime

Safety Controls (3 tools)

Tool	Description
get_safety_status	Current safety settings
set_speed_limit	Set max speed (0-100%)
set_command_timeout	Set auto-stop timeout

IR Communication (3 tools)

Tool	Description
send_ir_message	Send IR code (0-7)
start_ir_broadcasting	Start robot-to-robot IR
stop_ir_broadcasting	Stop IR broadcasting

Safety Features

Speed Limiting

All movement commands are limited to a configurable percentage of max speed (default 50%). This prevents accidental high-speed collisions.

You: Set the speed limit to 25%
You: Now drive forward at full speed
# RVR will only go at 25% of max speed

Command Timeout

If no movement command is received within the timeout period (default 5 seconds), the RVR automatically stops. This prevents runaway situations if connection is lost.

Emergency Stop

Immediately stops all movement and blocks further motion until explicitly cleared.

You: Emergency stop!
# RVR stops immediately
# All movement commands will fail until:
You: Clear the emergency stop

Troubleshooting

"Failed to connect to RVR"

• Check serial connection: ls /dev/ttyS0
• Ensure RVR is powered on
• Verify baud rate (default 115200)

"sphero_sdk not found"

• Add SDK to PYTHONPATH: export PYTHONPATH="${PYTHONPATH}:/path/to/sphero-sdk-raspberrypi-python"

Slow response

• Raspberry Pi 3 may be slower than Pi 4/5
• Reduce sensor streaming frequency
• Close unnecessary applications

RVR not responding to commands

• Check if emergency stop is active: get_safety_status
• Verify connection: get_connection_status
• Try disconnecting and reconnecting

Project Structure

sphero_development/
├── pyproject.toml              # Package configuration
├── README.md                   # This file
├── LICENSE                     # MIT License
└── src/sphero_rvr_mcp/
    ├── __init__.py
    ├── __main__.py             # Entry point
    ├── config.py               # Configuration dataclasses
    ├── models.py               # Pydantic response models
    ├── rvr_manager.py          # Connection lifecycle
    ├── sensor_manager.py       # Sensor streaming
    ├── safety_controller.py    # Safety system
    └── server.py               # MCP server + tools

License

MIT