pymycobot 2.0.0

Python API for serial communication of MyCobot.

pymycobot

This is python API for mycobot.

We support Python2, Python3.5 or later.

Class:

• MyCobot
• Angle
• Coord

MyCobot

MyCobot.power_on()

• Description

  Robot arm power up.

• Parameters

  None

• Returns

  None

MyCobot.power_off()

• Description

  Robot arm power down.

• Parameters

  None

• Returns

  None

MyCobot.set_free_mode()

• Description

  Robot arm into free moving mode.

• Parameters

  None

• Returns

  None

MyCobot.get_angles()

• Description

  Get the degree of all joints.

• Parameters

  None

• Returns

  A float list of degree.

MyCobot.get_angles_by_radian()

• Description

  Get the radians of all joints.

• Parameters

  None

• Returns

  A float list of radian.

MyCobot.send_angle()

• Description

  Send one degree of joint to robot arm.

• Parameters

  id: Joint id(common.Angle)

  degree: degree value(float)

  speed: (int)

• Returns

  None

• Example

  from pymycobot.mycobot import MyCobot
  from pymycobot.common import Angle
  
  
  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angle(Angle.J2.value, 10, 50)
  

MyCobot.send_angles()

• Description

  Send the degrees of all joints to robot arm.

• Parameters

  degrees: a list of degree value(List[float])

  speed: (int)

• Returns

  None

• Example

  from pymycobot.mycobot import MyCobot
  from pymycobot.common import Angle
  
  
  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angles([0,0,0,0,0,0], 80)
  

MyCobot.send_angles_by_radian()

• Description

  Send the radians of all joint to robot arm.

• Parameters

  degrees: a list of radian value(List[float])

  speed: (int)

• Returns

  None

• Example

  from pymycobot.mycobot import MyCobot
  from pymycobot.common import Angle
  
  
  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
  

MyCobot.get_coords()

• Description

  Get the Coords from robot arm.

• Parameters

  None

• Returns

  A float list of coord.

MyCobot.send_coord()

• Description

  Send one coord to robot arm.

• Parameters

  id: coord name(common.Coord)

  coord: coord value(float)

  speed: (int)

• Returns

  None

• Example

  from pymycobot.mycobot import MyCobot
  from pymycobot.common import Coord
  
  
  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_coord(Coord.X.value, -40, 70)
  

MyCobot.send_coords()

• Description

  Send all coords to robot arm.

• Parameters

  coords: a list of coords value(List[float])

  speed: (int)

• Returns

  None

• Example

  from pymycobot.mycobot import MyCobot
  from pymycobot.common import Coord
  
  
  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
  

MyCobot.set_color()

• Description

  Set the color of the light on the top of the robot arm.

• Parameters

  rgb: (string) like: "FF0000"

• Returns

  None

MyCobot.is_moving()

• Description

  Judge whether the manipulator is moving or not.

• Parameters

  None

• Returns

  bool: True - moving, False - not moving.

MyCobot.pause()

• Description

  Pause movement.

• Parameters

  None

• Returns

  None

MyCobot.resume()

• Description

  Recovery movement.

• Parameters

  None

• Returns

  None

MyCobot.stop()

• Description

  Stop moving.

• Parameters

  None

• Returns

  None

MyCobot.is_pause()

• Description

  Judge whether the manipulator pauses or not.

• Parameters

  None

• Returns

  bool: True - pause, False - not pause.

MyCobot.get_speed()

• Description

  Get speed.

• Parameters

  None

• Returns

  speed: (int)

MyCobot.set_speed()

• Description

  Set speed.

• Parameters

  speed: (int)

• Returns

  None

Angle

Description

Instance class of joint. It's recommended to use this class to select joint.

Coord

Description

Instance class of coord. It's recommended to use this class to select coord.

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