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A python library for controlling theiRobotCreate 2. This was usedin ECE 387 Introduction to Robotics class I taught at the US Air Force Academy.

• video: robot could only follow the black tap road and couldn't run into anything. If anything got in the way, it had to naviage around it to its final destination
• video: robot pet, follow the pink ball
• video: robot pet, follow the pink ball

The recommended way to install this library is:

pip install pycreate2

If you wish to develop and submit git-pulls, you can do:

git clone https://github.com/walchko/pycreate2cd pycreate2poetry installpoetry run pytest -v

There are multiple ways to command the Create to move, here are someexamples:

frompycreate2importCreate2importtime# Create a Create2.port="/dev/serial"# where is your serial port?bot=Create2(port)# Start the Create 2bot.start()# Put the Create2 into 'safe' mode so we can drive it# This will still provide some protectionbot.safe()# You are responsible for handling issues, no protection/safety in# this mode ... becarefulbot.full()# directly set the motor speeds ... move forwardbot.drive_direct(100,100)time.sleep(2)# turn in placebot.drive_direct(200,-200)# inputs for motors are +/- 500 maxtime.sleep(2)# Stop the botbot.drive_stop()# query some sensorssensors=bot.get_sensors()# returns all dataprint(sensors.light_bumper_left)# Close the connection# bot.close()

More examples are found in theexamplesfolder.

Additional notes and documents are in thedocsfolder.

The different modes (OFF, PASSIVE, SAFE, and FULL) can be switchedbetween by calling different commands.

• OFF: The robot is off and can charge, it will accept no commands
• PASSIVE: The robot is in standbye and can charge. It will sendsensor packets, but will not move
• SAFE: The robot will not charge, but you full control over itwith a few exceptions. If the cliff sensors or wheel drop sensorsare triggered, the robot goes back to PASSIVE mode.
• FULL: The robot will not charge and you have full control. Youare responsible to handle any response due to cliff, wheel drop orany other sensors.

Sensor data is returned as anamedtuple fromcollections. Theinformation can be accessed as either:

sensors=bot.get_sensors()sensors.wall==sensors[1]# True

Copyright (c) 2007 Damon Kohler

Copyright (c) 2015 Jonathan Le Roux (Modifications for Create 2)

Copyright (c) 2015 Brandon Pomeroy

Copyright (c) 2017 Kevin Walchko

Permission is hereby granted, free of charge, to any person obtaining acopy of this software and associated documentation files (the"Software"), to deal in the Software without restriction, includingwithout limitation the rights to use, copy, modify, merge, publish,distribute, sublicense, and/or sell copies of the Software, and topermit persons to whom the Software is furnished to do so, subject tothe following conditions:

The above copyright notice and this permission notice shall be includedin all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESSOR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OFMERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANYCLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THESOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.