Simplifies spot class and add threaded websocket controller interface

raspberry_pi/run_spot.py

@@ -0,0 +1,33 @@
+# SCRIPT FOR RUNNING THE RPI ROBOT
+
+import time
+from src.spot import Spot
+from src.kinematics.SpotKinematics import SpotModel
+from src.camera.WebCamera import WebCamera
+from src.imu.IMU import IMU
+from src.hardware_interface.HardwareInterface import HardwareInterface
+from src.controller_interface.WebsocketController import WebsocketController
+from src.controller_interface.SharedControllerState import SharedState, shared_state
+
+
+def main():
+    kinematics = SpotModel()
+    camera = WebCamera()
+    imu = IMU()
+    hardware_interface = HardwareInterface()
+    # shared_controller_state = SharedState()
+    controller_interface = WebsocketController() # shared_controller_state)
+
+    spot = Spot(kinematics, camera, imu, hardware_interface, controller_interface)
+
+    spot.start()
+
+    try:
+        while True:
+            spot.run(shared_state.get_latest_state().__dict__)
+            time.sleep(1)
+    except KeyboardInterrupt:
+        spot.stop()
+
+if __name__ == '__main__':
+    main()