Orienting a user interface of a controller for operating a self-propelled device

A self-propelled device comprising:

• a substantially spherical housing;
• one or more processors;
• one or more sensors, wherein the one or more processors determine a reference frame based on inputs from the one or more sensors;
• a wireless communication port;
• wherein the self-propelled device is configured to signal a mobile computing device that includes a touch sensitive screen, over the wireless communication port, information that indicates an orientation of the self-propelled device;
• and
• one or more features that indicate a forward-facing direction of the self-propelled device based on the determined reference frame.

A mobile computing device comprising:

• one or more processors;
• a touch-sensitive display screen;
• a wireless communication port;
• a memory that stores instructions, including instructions for controlling a self-propelled device;
• wherein the one or more processors operate to:
• generate a user interface on the touch-sensitive display screen for controlling at least a directional movement of the self-propelled device;
• receive information from the self-propelled device over the wireless communication port indicating an orientation of the self-propelled device;
• and
• configure the user interface on the touch-sensitive display screen to reflect the orientation of the self-propelled device;
• wherein the user interface includes a virtual steering mechanism for controlling directional movements of the self-propelled device, the virtual steering mechanism being provided in an orientation that reflects the orientation of the self-propelled device.