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-CSCE 274 Project 2-

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The primary goal of the second project was to read the Create2's

various sensors and use that data to help the Create2 make

decisions in its motion.

All work was completed by Robert Carff, Miles Ziemer, and

Austin Staton for this assignment. The teaching assistant,

Ibrahim Salman, offered some guidance around fixing broken

sensors; however, any substance to this work was performed

by the formerly mentioned contributers.

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-Files-

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Each needed file is listed and described below:

SerialInterface.py -- this file transfers data to the

iRobot Create2 via Serial Communi-

cation. It serves as the interface

for reading and writing data, as

well as opening and closing the

initial Serial data connection.

RobotInterface.py -- the Robot Interface is the link of

communication to the iRobot. This in-

cludes, but is not limited to,

controlling the robot's: movement, mode

of opertaion, sensors, and actuators.

Main_Project2.py -- this file controls all primary function-

ality of the Create2. For this project, this

includes managing the various threads for

environment sensing and motion.

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-Execution-

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Limitations:

** I am assuming the user is on a Debian-based Linux

operating system. If this prerequisite is not met, the

below actions will not produce their desired result.

To execute this program, thus instructing the iRobot to

create a polygon, do the following:

1. Ensure that all listed files (above) are stored in the

same folder/directory. We have not accounted for the

manueverability of files.

2. Connect an ethernet (Cat-5/6) cord to the Raspberry Pi

located on top of the iRobot Create2. Ensure the

Rasperry Pi is powered on.

3. Transfer all needed files (again, they're listed above)

to the Raspberry Pi via secure copy. This is done with

the below command in the terminal:

$ scp SerialInterface.py RobotInterface.py

Main_Project1.py [email protected]:~/

4. Establish a connection with the Raspberry Pi through a

secure shell. This is done by typing the below into

the terminal:

$ ssh [email protected]

4a. Provide all needed credentials upon request.

5. Now, the user should have control of the files on the

Raspberry Pi. Validate this.

6. Upon establishing a successful, verified connection,

ensure that all needed files are in the Raspberry Pi's

home directory (the way the secure copy was given, all

files should be located here).

7. Run the program on the Raspberry Pi. By doing so,

the iRobot will be recieving data from the Raspberry

Pi (see 'SerialInterface.py' above). Do this by

typing the following into the Raspberry Pi's terminal

(controlled with the SSH):

$ python Main_Project2.py