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
Note: If no parameter is given, there is no parameter; if no return value is given, there is no return value
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: Set 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 all degree.
send_angle()
-
Description: Send one degree of joint to robot arm.
-
Parameters
id
: Joint id(genre.Angle
)degree
: degree value(float
)speed
: (int
) 0 ~ 100
-
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
) 0 ~ 100
-
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
) 0 ~ 100
-
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
) 0 ~ 100mode
: (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)
sync_send_angles()
-
Description: Send the angle in synchronous state and return when the target point is reached
-
Parameters
id
: Joint id(genre.Angle
)degree
: degree value(float
)speed
: (int
) 0 ~ 100
sync_send_coords()
-
Description: Send the coord in synchronous state and return when the target point is reached
-
Parameters
coords
: a list of coords value(List[float]
)speed
: (int
) 0 ~ 100mode
: (int
):0
- angluar,1
- linear
pause()
- Description: Pause movement.
resume()
- Description: Recovery movement.
stop()
- Description: Stop moving.
is_paused()
-
Description: Judge whether the manipulator pauses or not.
-
Returns :
1
- paused0
- not paused-1
- error
is_in_position()
-
Description: Judge whether in the position.
-
Parameters
data
: A data list, angles or coords.flag
: Tag the data type,0
- angles,1
- coords.
-
Returns
1
- true0
- false-1
- error
JOG mode and operation
jog_angle()
-
Description: Jog control angle
-
Parameters
joint_id
: (int
) 1 ~ 6direction
:0
- decrease,1
- increasespeed
: 0 ~ 100
jog_coord()
-
Description: Jog control coord.
-
Parameters
coord_id
: (int
) 1 ~ 6direction
:0
- decrease,1
- increasespeed
: 0 ~ 100
jog_stop()
- Description: Stop jog moving.
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 value (
float
)
get_joint_max_angle()
-
Description: Gets the maximum movement angle of the specified joint
-
Parameters:
joint_id
: (int
) -
Returns: angle value (
float
)
Servo control
is_servo_enable()
-
Description: Determine whether all steering gears are connected
-
Parameters:
servo_id
(int
) 1 ~ 6 -
Returns
0
: disable1
: enbale-1
: error
is_all_servo_enable()
-
Description: Determine whether the specified steering gear is connected
-
Returns
0
: disable1
: enbale-1
: error
release_servo()
-
Description: Power off designated servo
-
Parameters:
servo_id
: 1 ~ 6
focus_servo()
-
Description: Power on designated servo
-
Parameters:
servo_id
: 1 ~ 6
Atom IO
set_color()
-
Description: Set the color of the light on the top of the robot arm.
-
Parameters
r
: 0 ~ 255g
: 0 ~ 255b
: 0 ~ 255
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()
-
Parameters:
pin_no
(int) -
Return: signal value
get_gripper_value()
-
Description: Get gripper value
-
Return: gripper value (int)
set_gripper_state()
-
Description: Set gripper switch state
-
Parameters
flag
(int
): 0 - open, 1 - closespeed
(int
): 0 ~ 100
set_gripper_value()
-
Description: Set gripper value
-
Parameters
value
(int): 1400 ~ 2048speed
(int): 0 ~ 100
set_gripper_ini()
- Description: Set the current position to zero, set current position value is
2048
.
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.
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