{
    "info": {
        "author": "Kevin Walchko",
        "author_email": "walchko@users.noreply.github.com",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 4 - Beta",
            "Intended Audience :: Developers",
            "License :: OSI Approved :: MIT License",
            "Operating System :: OS Independent",
            "Programming Language :: Python :: 2.7",
            "Programming Language :: Python :: 3.6",
            "Topic :: Software Development :: Libraries",
            "Topic :: Software Development :: Libraries :: Application Frameworks",
            "Topic :: Software Development :: Libraries :: Python Modules"
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        "description": ".. image:: https://raw.githubusercontent.com/walchko/pycreate2/master/pics/create.png\n\t:align: center\n\npyCreate2\n================\n\n.. image:: https://img.shields.io/pypi/l/pycreate2.svg\n    :target: https://pypi.python.org/pypi/pycreate2\n.. image:: https://img.shields.io/pypi/pyversions/pycreate2.svg\n    :target:  https://pypi.python.org/pypi/pycreate2\n.. image:: https://travis-ci.org/MomsFriendlyRobotCompany/pycreate2.svg?branch=master\n    :target: https://travis-ci.org/MomsFriendlyRobotCompany/pycreate2\n.. image:: https://img.shields.io/pypi/v/pycreate2.svg\n    :target: https://pypi.python.org/pypi/pycreate2\n.. image:: https://img.shields.io/pypi/format/pycreate2.svg\n    :target:  https://pypi.python.org/pypi/pycreate2\n\nA python library for controlling the `iRobot Create 2 <http://www.irobot.com/About-iRobot/STEM/Create-2.aspx>`_.\n\nInstall\n------------\n\npip\n~~~~~\n\nThe recommended way to install this library is::\n\n\tpip install pycreate2\n\nDevelopment\n~~~~~~~~~~~~~\n\nIf you wish to develop and submit git-pulls, you can do::\n\n\tgit clone https://github.com/walchko/pycreate2\n\tcd pycreate2\n\tpip install -e .\n\nUnit Testing\n~~~~~~~~~~~~~~~~\n\n::\n\n\tnosetests -v -w tests test.py\n\tpython3 -m nose -v -w tests test.py\n\nUse\n-------------\n\nThere are multiple ways to command the Create to move, here are some examples:\n\n.. code-block:: python\n\n\tfrom  pycreate2 import Create2\n\timport time\n\n\t# Create a Create2.\n\tbot = Create2()\n\n\t# Start the Create 2\n\tbot.start()\n\n\t# Put the Create2 into 'safe' mode so we can drive it\n\t# This will still provide some protection\n\tbot.safe()\n\n\t# You are responsible for handling issues, no protection/safety in\n\t# this mode ... becareful\n\tbot.full()\n\n\t# directly set the motor speeds ... easier if using a joystick\n\tbot.drive_direct(100, 100)\n\n\t# turn an angle [degrees] at a speed: 45 deg, 100 mm/sec\n\tbot.turn_angle(45, 100)\n\n\t# drive straight for a distance: 5 meters, reverse 100 mm/sec\n\tdrive_distance(5, -100)\n\n\t# Tell the Create2 to drive straight forward at a speed of 100 mm/s\n\tbot.drive_straight(100)\n\ttime.sleep(2)\n\n\t# Tell the Create2 to drive straight backward at a speed of 100 mm/s\n\tbot.drive_straight(-100)\n\ttime.sleep(2)\n\n\t# Turn in place\n\tbot.drive_turn(100, 0)\n\ttime.sleep(2)\n\n\t# Turn in place\n\tbot.drive_turn(-100, 0)\n\ttime.sleep(4)\n\n\t# Turn in place\n\tbot.drive_turn(100, 0)\n\ttime.sleep(2)\n\n\t# use the simpler drive direct\n\tbot.drive_direct(200,-200)  # inputs for motors are +/- 500 max\n\ttime.sleep(2)\n\n\t# Stop the bot\n\tbot.drive_stop()\n\n\t# query some sensors\n\tsensors = bot.get_sensors()  # returns all data\n\tprint(sensors.light_bumper_left)\n\n\t# Close the connection\n\t# bot.close()\n\nMore examples are found in the `examples folder <https://github.com/walchko/pycreate2/tree/master/examples>`_.\n\nDocuments\n------------\n\nAdditional notes and documents are in the `docs folder <https://github.com/walchko/pycreate2/tree/master/docs/Markdown>`_.\n\nModes\n~~~~~~~~~\n\n.. image:: https://raw.githubusercontent.com/walchko/pycreate2/master/pics/create_modes.png\n\t:align: center\n\nThe different modes (OFF, PASSIVE, SAFE, and FULL) can be switched between by calling different\ncommands.\n\n- **OFF:** The robot is off and can charge, it will accept no commands\n- **PASSIVE:** The robot is in standbye and can charge. It will send sensor packets, but will not move\n- **SAFE:** The robot will not charge, but you full control over it with a few exceptions. If the cliff sensors or wheel drop sensors are triggered, the robot goes back to PASSIVE mode.\n- **FULL:** The robot will not charge and you have full control. You are responsible to handle any response due to cliff, wheel drop or any other sensors.\n\nSensor Data\n~~~~~~~~~~~~~\n\nSensor data is returned as a ``namedtuple`` from ``collections``. The information can be\naccessed as either::\n\n\tsensors = bot.get_sensors()\n\tsensors.wall == sensors[1]  # True\n\n=========================== =============== =================\nSensor                      Range           Index\n=========================== =============== =================\nbumps_wheeldrops            [0-15]           0\nwall                        [0-1]            1\ncliff_left                  [0-1]            2\ncliff_front_left            [0-1]            3\ncliff_front_right           [0-1]            4\ncliff_right                 [0-1]            5\nvirtual_wall                [0-1]            6\novercurrents                [0-29]           7\ndirt_detect                 [0-255]          8\nir_opcode                   [0-255]          9\nbuttons                     [0-255]          10\ndistance                    [-322768-32767]  11\nangle                       [-322768-32767]  12\ncharger_state               [0-6]            13\nvoltage                     [0-65535]        14\ncurrent                     [-322768-32767]  15\ntemperature                 [-128-127]       16\nbattery_charge              [0-65535]        17\nbattery_capacity            [0-65535]        18\nwall_signal                 [0-1023]         19\ncliff_left_signal           [0-4095]         20\ncliff_front_left_signal     [0-4095]         21\ncliff_front_right_signal    [0-4095]         22\ncliff_right_signal          [0-4095]         23\ncharger_available           [0-3]            24\nopen_interface_mode         [0-3]            25\nsong_number                 [0-4]            26\nsong_playing                [0-1]            27\noi_stream_num_packets       [0-108]          28\nvelocity                    [-500-500]       29\nradius                      [-322768-32767]  30\nvelocity_right              [-500-500]       31\nvelocity_left               [-500-500]       32\nencoder_counts_left         [-322768-32767]  33\nencoder_counts_right        [-322768-32767]  34\nlight_bumper                [0-127]          35\nlight_bumper_left           [0-4095]         36\nlight_bumper_front_left     [0-4095]         37\nlight_bumper_center_left    [0-4095]         38\nlight_bumper_center_right   [0-4095]         39\nlight_bumper_front_right    [0-4095]         40\nlight_bumper_right          [0-4095]         41\nir_opcode_left              [0-255]          42\nir_opcode_right             [0-255]          43\nleft_motor_current          [-322768-32767]  44\nright_motor_current         [-322768-32767]  45\nmain_brush_current          [-322768-32767]  46\nside_brush_current          [-322768-32767]  47\nstatis                      [0-3]            48\n=========================== =============== =================\n\nChange Log\n---------------\n\n========== ======= =============================\n2017-08-26 0.7.3   code clean up and doc updates\n2017-08-26 0.7.2   updates and fixes\n2017-05-26 0.5.0   init and published to pypi\n========== ======= =============================\n\nThe MIT License\n==================\n\n**Copyright (c) 2007 Damon Kohler**\n\n**Copyright (c) 2015 Jonathan Le Roux (Modifications for Create 2)**\n\n**Copyright (c) 2015 Brandon Pomeroy**\n\n**Copyright (c) 2017 Kevin Walchko**\n\nPermission is hereby granted, free of charge, to any person obtaining a copy\nof this software and associated documentation files (the \"Software\"), to deal\nin the Software without restriction, including without limitation the rights\nto use, copy, modify, merge, publish, distribute, sublicense, and/or sell\ncopies of the Software, and to permit persons to whom the Software is\nfurnished to do so, subject to the following conditions:\n\nThe above copyright notice and this permission notice shall be included in\nall copies or substantial portions of the Software.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE\nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,\nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN\nTHE SOFTWARE.\n\n\n",
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