Python API for serial communication of MyCobot.
Project description
pymycobot
This is python API for mycobot.
We support Python2, Python3.5 or later.
Class:
MyCobot
from pymycobot.mycobot import MyCobot
Overall status
power_on()
-
Description
Robot arm power up.
power_off()
-
Description
Robot arm power down.
is_power_on()
-
Description
Adjust robot arm whether power on.
-
Returns
1
: power on0
: power off-1
: error
set_free_mode()
-
Description
Robot arm into free moving mode.
MDI mode and operation
get_angles()
-
Description
Get the degree of all joints.
-
Returns
list
: A float list of degree.
send_angle()
-
Description
Send one degree of joint to robot arm.
-
Parameters
id: Joint id(
genre.Angle
)degree: degree value(
float
)speed: (
int
) -
Example
from pymycobot.mycobot import MyCobot from pymycobot.genre import Angle mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_angle(Angle.J2.value, 10, 50)
send_angles()
-
Description
Send the degrees of all joints to robot arm.
-
Parameters
degrees: a list of degree value(
List[float]
)speed: (
int
) -
Example
from pymycobot.mycobot import MyCobot from pymycobot.genre import Angle mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_angles([0,0,0,0,0,0], 80)
get_radians()
-
Description
Get the radians of all joints.
-
Returns
list
: A float list of radian.
send_radians()
-
Description
Send the radians of all joint to robot arm.
-
Parameters
degrees: a list of radian value(
List[float]
)speed: (
int
) -
Example
from pymycobot.mycobot import MyCobot from pymycobot.genre import Angle mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
get_coords()
-
Description
Get the Coords from robot arm, coordinate system based on base.
-
Returns
list
: A float list of coord -[x, y, z, rx, ry, rz]
send_coord()
-
Description
Send one coord to robot arm.
-
Parameters
id: coord id(
genre.Coord
)coord: coord value(
float
)speed: (
int
) -
Example
from pymycobot.mycobot import MyCobot from pymycobot.genre import Coord mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_coord(Coord.X.value, -40, 70)
send_coords()
-
Description
Send all coords to robot arm.
-
Parameters
coords: a list of coords value(
List[float]
)speed: (
int
)mode: (
int
):0
- angluar,1
- linear -
Example
from pymycobot.mycobot import MyCobot from pymycobot.genre import Coord mycobot = MyCobot('/dev/ttyUSB0') mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
pause()
-
Description
Pause movement.
resume()
-
Description
Recovery movement.
stop()
-
Description
Stop moving.
is_paused()
-
Description
Judge whether the manipulator pauses or not.
-
Returns
bool
:1
- paused0
- not paused-1
- error
is_in_position()
-
Description
Judge whether in the position.
-
Returns
bool
:1
- true0
- false-1
- error
is_moving()
-
Description
Judge whether the manipulator is moving or not.
-
Returns
bool
:True
- moving,False
- not moving.
JOG mode and operation
jog_angle()
-
Description
Jog control angle
-
Parameters
joint id: (
int
) 1 ~ 6
jog_coord()
-
Description
Jog control coord.
-
Parameters
coord id: (
int
) 1 ~ 6
jog_stop()
-
Description
Stop jog move.
Running status and Settings
get_speed()
-
Description
Get speed.
-
Returns
speed: (
int
)
set_speed()
-
Description
Set speed.
-
Parameters
speed: (
int
) 0 ~ 100
get_joint_min_angle()
-
Description
Gets the minimum movement angle of the specified joint
-
Parameters
joint id: (
int
) -
Returns
angle: (
float
)
get_joint_max_angle()
-
Description
Gets the maximum movement angle of the specified joint
-
Parameters
joint id: (
int
) -
Returns
angle: (
float
)
Servo control
is_servo_enable()
-
Description
Determine whether all steering gears are connected
-
Parameters
servo id: (
int
) -
Returns
flag: (
int
)0
: disable1
: enbale-1
: error
is_all_servo_enable()
-
Description
Determine whether the specified steering gear is connected
-
Returns
flag: (
int
)0
: disable1
: enbale-1
: error
release_servo()
-
Description
Power on designated servo
-
Parameters
servo_id: 1 ~ 6
focus_servo()
-
Description
Power off designated servo
-
Parameters
servo_id: 1 ~ 6
Atom IO
set_led_color()
-
Description
Set the color of the light on the top of the robot arm.
-
Parameters
rgb: (
string
) like: "FF0000"
set_pin_mode()
-
Parameters
pin_no (int): pin_mode (int): 0 - input, 1 - output, 2 - input_pullup
set_digital_output()
-
Parameters
pin_no (int):
pin_signal (int): 0 / 1
get_digital_input()
-
Description
-
Parameters
set_pwm_mode()
-
Description
-
Parameters
set_pwm_output()
-
Description
-
Parameters
get_gripper_value()
-
Description
Get gripper value
set_gripper_state()
-
Description
Set gripper switch
-
Parameters
flag (
int
): 0 - open, 1 - closespeed (
int
): 0 ~ 100
set_gripper_value()
-
Description
Set gripper value
-
Parameters
value (int): 0 ~ 496
speed (int): 0 ~ 100
set_gripper_ini()
-
Description
Set the current position to zero
Current position value is
248
.
is_gripper_moving()
-
Description
Judge whether the gripper is moving or not
-
Returns
0
: not moving1
: is moving-1
: error data
Angle
from pymycobot.genre import Angle
Description
Instance class of joint. It's recommended to use this class to select joint.
Coord
from pymycobot.genre import Coord
Description
Instance class of coord. It's recommended to use this class to select coord.
Project details
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