pymycobot 2.4.2

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
    • power_on
    • power_off
    • is_power_on
    • release_all_servos
    • is_controller_connected
  • MDI mode and operation
    • get_angles
    • send_angle
    • send_angles()
    • get_radians
    • send_radians
    • get_coords
    • send_coord
    • send_coords
    • sync_send_angles
    • sync_send_coords
    • pause
    • resume
    • stop
    • is_paused
    • is_in_position
  • JOG mode and operation
    • jog_angle
    • jog_coord
    • jog_stop
    • set_encoder
    • get_encoder
    • set_encoders
  • Running status and Settings
    • get_speed
    • set_speed
    • get_joint_min_angle
    • get_joint_max_angle
  • Servo control
    • is_servo_enable
    • is_all_servo_enable
    • set_servo_data
    • get_servo_data
  • set_servo_calibration
    • release_servo
    • focus_servo
  • Atom IO
    • set_color
    • set_pin_mode
    • set_digital_output()
    • get_digital_input()
    • set_pwm_output()
    • get_gripper_value
    • set_gripper_state
    • set_gripper_value
    • set_gripper_ini
    • is_gripper_moving
  • Basic
    • set_basic_output
• Angle
• Coord

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

• Prototype: power_on()

• Description:Atom open communication (default open).

power_off

• Prototype: power_off()

• Description: Atom turn off communication.

is_power_on

• Prototype: is_power_on()

• Description: Adjust robot arm whether power on.

• Returns

  • 1: power on
  • 0: power off
  • -1: error

release_all_servos

• Prototype: release_all_servos()

• Description: Set robot arm into free moving mode.

is_controller_connected

• Prototype: is_controller_connected()

• Description: Check if connected with Atom.

• Returns

  • 1: connected
  • 0: not connected
  • -1: error

MDI mode and operation

get_angles

• Prototype: get_angles()

• Description: Get the degree of all joints.

• Returns: list: A float list of all degree.

send_angle

• Prototype: send_angles(id, degree, speed)

• Description: Send one degree of joint to robot arm.

• Parameters

  • id: Joint id(genre.Angle) / int 1-6
  • degree: degree value(float) (about -170 ～ 170)
  • 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()

• Prototype: send_angles(degrees, speed)

• Description: Send the degrees of all joints to robot arm.

• Parameters

  • degrees: a list of degree value(List[float]), length 6.

  • speed: (int) 0 ~ 100

• 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

• Prototype: get_radians()

• Description: Get the radians of all joints.

• Returns: list: A float list of radian.

send_radians

• Prototype: send_radians(radians, speed)

• Description: Send the radians of all joint to robot arm.

• Parameters:

  • radians: a list of radian value(List[float]), length 6.
  • 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

• Prototype: 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

• Prototype: get_coords(id, coord, speed)

• Description: Send one coord to robot arm.

• Parameters

  • id: coord id(genre.Coord) / int 1-6
  • 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

• Prototype: send_coords(coords, speed, mode)

• Description: Send all coords to robot arm.

• Parameters

  • coords: a list of coords value(List[float]), length 6.
  • speed: (int) 0 ~ 100
  • mode: (int): 0 - angular, 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

• Prototype: sync_send_angles(degrees, speed, timeout=7)

• Description: Send the angle in synchronous state and return when the target point is reached

• Parameters

  • degrees: a list of degree value(List[float]), length 6.
  • speed: (int) 0 ~ 100
  • timeout: default 7s.

sync_send_coords

• Prototype: sync_send_coords(coords, speed, mode, timeout=7)

• 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 ~ 100
  • mode: (int): 0 - angular, 1 - linear
  • timeout: default 7s.

pause

• Prototype: pause()

• Description: Pause movement.

resume

• Prototype: resume()

• Description: Recovery movement.

stop

• Prototype: stop()

• Description: Stop moving.

is_paused

• Prototype: is_paused()

• Description: Judge whether the manipulator pauses or not.

• Returns :

  • 1 - paused
  • 0 - not paused
  • -1 - error

is_in_position

• Prototype: is_in_position(data, flag)

• Description: Judge whether in the position.

• Parameters

  • data: A data list, angles or coords, length 6.
  • flag: Tag the data type, 0 - angles, 1 - coords.

• Returns

  • 1 - true
  • 0 - false
  • -1 - error

JOG mode and operation

jog_angle

• Prototype: jog_angle(joint_id, direction, speed)

• Description: Jog control angle

• Parameters

  • joint_id: (int) 1 ~ 6
  • direction: 0 - decrease, 1 - increase
  • speed: 0 ~ 100

jog_coord

• Prototype: jog_coord(coord_id, direction, speed)

• Description: Jog control coord.

• Parameters

  • coord_id: (int) 1 ~ 6
  • direction: 0 - decrease, 1 - increase
  • speed: 0 ~ 100

jog_stop

• Prototype: jog_stop()

• Description: Stop jog moving.

set_encoder

• Prototype: set_encoder(joint_id, encoder)

• Description: Set a single joint rotation to the specified potential value.

• Parameters

  • joint_id: (int) 1 ~ 6
  • encoder: 0 ~ 4096

get_encoder

• Prototype: get_encoder(joint_id)

• Description:Obtain the specified joint potential value.

• Parameters: joint_id: (int) 1 ~ 6

• Returns: encoder: 0 ~ 4096

set_encoders

• Prototype: set_encoders(encoders, sp)

• Description: Set the six joints of the manipulator to execute synchronously to the specified position.

• Parameters:

  • encoders: A encoder list, length 6.
  • sp: speed 0 - 100

Running status and Settings

get_speed

• Prototype: get_speed()

• Description: Get speed.

• Returns: speed: (int)

set_speed

• Prototype: set_speed(speed)

• Description: Set speed.

• Parameters: speed: (int) 0 ~ 100

get_joint_min_angle

• Prototype: 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

• Prototype: 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

• Prototype: is_servo_enable(servo_id)

• Description: Determine whether all steering gears are connected

• Parameters: servo_id (int) 1 ~ 6

• Returns

  • 0: disable
  • 1: enable
  • -1: error

is_all_servo_enable

• Prototype: is_all_servo_enable()

• Description: Determine whether the specified steering gear is connected

• Returns

  • 0: disable
  • 1: enable
  • -1: error

set_servo_data

• Prototype: set_servo_data(servo_no, data_id, value)

• Description: Set the data parameters of the specified address of the steering gear.

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.
  • data_id: Data address.
  • value: 0 - 4096

get_servo_data

• Prototype: get_servo_data(servo_no, data_id)

• Description: Read the data parameter of the specified address of the steering gear.

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.
  • data_id: Data address.

• Returns: value: 0 - 4096

  • 0: disable
  • 1: enable
  • -1: error

set_servo_calibration

• Prototype: set_servo_calibration(servo_no)

• Description: The current position of the calibration joint actuator is the angle zero point, and the corresponding potential value is 2048.

• Parameters:

  • servo_no: Serial number of articulated steering gear, 1 - 6.

release_servo

• Prototype: release_servo(servo_id)

• Description: Power off designated servo

• Parameters: servo_id: 1 ~ 6

focus_servo

• Prototype: focus_servo(servo_id)

• Description: Power on designated servo

• Parameters: servo_id: 1 ~ 6

Atom IO

set_color

• Prototype: set_color(r, g, b)

• Description: Set the color of the light on the top of the robot arm.

• Parameters

  • r: 0 ~ 255
  • g: 0 ~ 255
  • b: 0 ~ 255

set_pin_mode

• Prototype: set_pin_mode(pin_no, pin_mode)

• Description: Set the state mode of the specified pin in atom.

• Parameters

  • pin_no (int): Pin number.
  • 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

set_pwm_output()

• Prototype: set_pwm_output(channel, frequency, pin_val)

• Description: PWM control.

• Parameters

  • channel (int): IO number.
  • frequency (int): clock frequency
  • pin_val (int): Duty cycle 0 ~ 256; 128 means 50%

get_gripper_value

• Prototype: get_gripper_value()

• Description: Get gripper value

• Return: gripper value (int)

set_gripper_state

• Prototype: set_gripper_state(flag, speed)

• Description: Set gripper switch state

• Parameters

  • flag (int): 0 - open, 1 - close
  • speed (int): 0 ~ 100

set_gripper_value

• Prototype: set_gripper_value(value, speed)

• Description: Set gripper value

• Parameters

  • value (int): 1400 ~ 2048
  • speed (int): 0 ~ 100

set_gripper_ini

• Prototype: set_gripper_ini()

• Description: Set the current position to zero, set current position value is 2048.

is_gripper_moving

• Prototype: is_gripper_moving()

• Description: Judge whether the gripper is moving or not

• Returns

  • 0 : not moving
  • 1 : is moving
  • -1: error data

Basic

set_basic_output

• Prototype: set_basic_output(pin_no, pin_signal)

• Description: Set bottom pin.

• Parameters

  • pin_no (int) Pin number.
  • pin_signal (int): 0 / 1

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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