We have found 2 separate iRobot Create API python wrappers that we want to test on the Roomba in order to verify that all of the listed functions work as intended. The first API that we found is: https://github.com/simondlevy/BreezyCreate2 . And the second is: https://bitbucket.org/lemoneer/irobot/src/default/

The second API claims to provide all of the functions from the original iRobot Create API (linked below) and is the one we will choose if it truly has all of the functions implemented. Otherwise, we will choose the first API since it has all of the features we will need to control the Roomba but it does not give us a low level control of the system. 

iRobot create API reference: https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf

After looking over the spec sheet of iRobot Create 2, we realized that it does not come with sensors capable of line following. As a result, we looked into integrating other IR sensors onto the Raspberry Pi. Essentially, Raspberry Pi will read sensor values from these IR sensors and use them to issue command to the motors to perform line following. Sensor values will be read using Python API gpiozero run on the Raspberry Pi.