A library to control iRobot Create 2 with python
Project description
pyCreate2
A python library for controlling the [iRobot Create 2](http://www.irobot.com/About-iRobot/STEM/Create-2.aspx).
Still a work in progress
Install
pip
The recommended way to install this library is:
pip install pycreate2
Development
If you wish to develop and submit git-pulls, you can do:
git clone https://github.com/walchko/pycreate2 cd pycreate2 pip install -e .
Use
from pycreate2 import Create2
import time
# Create a Create2.
bot = Create2()
# Start the Create 2
bot.start()
# Put the Create2 into 'safe' mode so we can drive it
# This will still provide some protection
bot.safe()
# Tell the Create2 to drive straight forward at a speed of 100 mm/s
bot.drive_straight(100)
time.sleep(2)
# Tell the Create2 to drive straight backward at a speed of 100 mm/s
bot.drive_straight(-100)
time.sleep(2)
# Turn in place
bot.drive_turn(100, 0)
time.sleep(2)
# Turn in place
bot.drive_turn(-100, 0)
time.sleep(4)
# Turn in place
bot.drive_turn(100, 0)
time.sleep(2)
# Stop the bot
bot.drive_stop()
# query some sensors
sensor_pkts = [46, 47, 48, 49, 50, 51] # ir bump sensors
ir = bot.query_list(sensor_pkts, 12)
# Close the connection
# bot.close()Documents
Additional notes and documents are in the [docs folder](https://raw.githubusercontent.com/walchko/pycreate2/master/docs/Markdown/)
Modes
Sensor Data
Here are some of the more useful sensor packets.
Sensor |
Range |
Packet Numbers |
|---|---|---|
ir bumper |
[0-127] |
45 |
ir bumper |
[0-4095] |
46-51 |
encoder |
[-322768-32767] |
43,44 |
current |
[-322768-32767] |
23 |
voltage |
[0-65535] |
22 |
motor current |
[-322768-32767] |
54,55 |
battery charge |
[0-65535] |
25 |
battery capacity |
[0-65535] |
26 (doesn’t change?) |
cliff |
[0-1] |
9-12 |
cliff signal |
[0-4095] |
28-31 |
overcurrents |
[0-29] |
14 |
bump wheeldrops |
[0-15] |
7 |
Change Log
2017-05-26 |
0.5.0 |
init and published to pypi |
The MIT License
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 a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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