We show how the existence of three objects, $Omega_{rm trap}$, ${bf W}$, and $C$, for a continuous piecewise-linear map $f$ on $mathbb{R}^N$, implies that $f$ has a topological attractor with a positive Lyapunov exponent. First, $Omega_{rm trap} subset mathbb{R}^N$ is trapping region for $f$. Second, ${bf W}$ is a finite set of words that encodes the forward orbits of all points in $Omega_{rm trap}$. Finally, $C subset T mathbb{R}^N$ is an invariant expanding cone for derivatives of compositions of $f$ formed by the words in ${bf W}$. We develop an algorithm that identifies these objects for two-dimensional homeomorphisms comprised of two affine pieces. The main effort is in the explicit construction of $Omega_{rm trap}$ and $C$. Their existence is equated to a set of computable conditions in a general way. This results in a computer-assisted proof of chaos throughout a relatively large regime of parameter space. We also observe how the failure of $C$ to be expanding can coincide with a bifurcation of $f$. Lyapunov exponents are evaluated using one-sided directional derivatives so that forward orbits that intersect a switching manifold (where $f$ is not differentiable) can be included in the analysis.
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