pymycobot 2.3.3

Python API for serial communication of MyCobot.

pymycobot

This is python API for mycobot.

We support Python2, Python3.5 or later.

Class:

• MyCobot
  • Overall status
  • MDI mode and operation
  • JOG mode and operation
  • Running status and Settings
  • Servo control
  • Atom IO
• Angle
• Coord

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 on
  • 0: 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 - paused
  • 0 - not paused
  • -1 - error

is_in_position()

• Description

  Judge whether in the position.

• Returns

  bool:

  • 1 - true
  • 0 - 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: disable
  • 1: enbale
  • -1: error

is_all_servo_enable()

• Description

  Determine whether the specified steering gear is connected

• Returns

  flag: (int)

  • 0: disable
  • 1: 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 - close

  speed (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 moving
  • 1 : 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.

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