The "Sphero Swarm" project is an innovative endeavor undertaken by the Autonomous Robotics Club at Purdue University in collaboration with Imagination Labs. This project aims to utilize Sphero robot balls to create a captivating exhibit that showcases molecular structures in an interactive and visually compelling manner. By orchestrating the movement of these Sphero robots, the project seeks to provide an engaging educational experience for audiences of all ages, promoting a deeper understanding of chemistry and inspiring scientific curiosity.

• Educational Engagement: The project focuses on enhancing comprehension of molecular structures through interactive exhibits.
• Sphero Control and Coordination: Advanced algorithms and control systems are developed to synchronize the movements of multiple Sphero balls, mimicking the spatial arrangements of atoms within various molecules.
• Real-Time Interaction: Visitors can actively participate in the exhibit by influencing the behavior of the Sphero robots and forming molecular structures.
• Scalability: The project offers a flexible framework capable of depicting a wide range of molecules, ensuring versatility and adaptability.

• Sphero Robot Balls: These versatile and precise spherical robots serve as the foundation of the exhibit.
• Custom Software: Specialized software is developed to control and coordinate the movement of the Sphero robots, translating molecular structures into captivating choreographies.
• Visualization and Projection: Visual aids and detailed molecular models are projected alongside the Sphero formations, providing additional context and insight.

The project is divided into five subteams, each focusing on specific aspects:

1. Controls: Controls the balls directly using Bluetooth signals.
2. Algorithms: Creates the algorithms which the balls utilize to move.
3. Perception: Uses OpenCV and a camera to check for errors and correct them.
4. Hardware: Creates, manufactures, and designs the physical matrix field which the Sphero balls move on.
5. Interface: Creates the app which the users will use to interact with the exhibit.

• Contributions to the project are welcome. Fork the repository, make your changes, and submit a pull request for review.

This project is licensed under the Creative Commons CC0 1.0 Universal License. See the LICENSE file for more details.

The simulation includes a web-based control panel that communicates with the Python algorithm driver via WebSockets. Controls are only honoured when the Use controls toggle is enabled:

• Start — initialize or restart the algorithm. When running, balls will begin stepping through the simulation.
• Stop — halt the simulation (driver stops updating positions).
• Pause / Resume — temporarily freeze the simulation without resetting state.
• Speed slider — adjusts the delay between each algorithm step (affects time.sleep in gui_driver.py).
• Use controls toggle — when off, the driver ignores all other commands and the UI buttons are disabled.

These commands are sent as simple JSON objects over the same socket used for state broadcasting; the driver automatically enqueues and processes them.

• Special thanks to Imagination Labs for their collaboration and support.
• We extend our sincere gratitude to Professor Severin Schneebeli for his invaluable guidance and expertise. His contributions have greatly enriched the project's interdisciplinary approach to molecular representation.