Update main.py

main.py

@@ -2,9 +2,41 @@
 import time
 from spot_controller import SpotController
 
-ROBOT_IP = "192.168.50.3"#os.environ['ROBOT_IP']
-SPOT_USERNAME = "admin"#os.environ['SPOT_USERNAME']
-SPOT_PASSWORD = "2zqa8dgw7lor"#os.environ['SPOT_PASSWORD']
+from  pycreate2 import Create2
+import time
+
+def launch_irobot():
+    port = "/dev/ttyUSB0"  # where is your serial port?
+    bot = Create2(port)
+
+    # 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()
+
+    # You are responsible for handling issues, no protection/safety in
+    # this mode ... becareful
+    bot.full()
+
+    # directly set the motor speeds ... move forward
+    bot.drive_direct(100, 100)
+    time.sleep(2)
+
+    # turn in place
+    bot.drive_direct(200,-200)  # inputs for motors are +/- 500 max
+    time.sleep(2)
+
+    # Stop the bot
+    bot.drive_stop()
+
+    # query some sensors
+    sensors = bot.get_sensors()  # returns all data
+    print(sensors.light_bumper_left)
+
+    # Close the connection
+    bot.close()
 
 
 def main():
@@ -26,25 +58,8 @@ def main():
 
     # Use wrapper in context manager to lease control, turn on E-Stop, power on the robot and stand up at start
     # and to return lease + sit down at the end
-    with SpotController(username=SPOT_USERNAME, password=SPOT_PASSWORD, robot_ip=ROBOT_IP) as spot:
-
-        time.sleep(2)
-
-        # Move head to specified positions with intermediate time.sleep
-        spot.move_head_in_points(yaws=[0.2, 0],
-                                 pitches=[0.3, 0],
-                                 rolls=[0.4, 0],
-                                 sleep_after_point_reached=1)
-        time.sleep(3)
-
-        # Make Spot to move by goal_x meters forward and goal_y meters left
-        spot.move_to_goal(goal_x=0.5, goal_y=0)
-        time.sleep(3)
-
-        # Control Spot by velocity in m/s (or in rad/s for rotation)
-        spot.move_by_velocity_control(v_x=-0.3, v_y=0, v_rot=0, cmd_duration=2)
-        time.sleep(3)
 
+    launch_irobot()
 
 if __name__ == '__main__':
     main()