Python API for serial communication of MyCobot.

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Project description

This is Python API for myCobot

Python 2.7 Python 3

This is a python API for serial communication with mycobot and controlling it.

Installation

Notes:

Make sure that Atom is flashed into the top Atom, Transponder is flashed into the base Basic.
The firmware Atom and Transponder download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
You also can use myStudio to flash them, myStudio address: https://github.com/elephantrobotics/myStudio/releases

Pip

pip install pymycobot --upgrade

Source code

git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
cd <your-path>/pymycobot
# Install
[sudo] python2 setup.py install
# or
[sudo] python3 setup.py install

Or the more modern form:

# Install
pip install .
# Uninstall
pip uninstall .

## Usage:

```python
from pymycobot import MyCobot, Angle, Coord
from pymycobot import PI_PORT, PI_BAUD # For raspberry pi version of mycobot.

The demo directory stores some test case files.

You can find out which interfaces pymycobot provides in pymycobot/README.md.

Please go to here.

pymycobot

This is python API for mycobot.

We support Python2, Python3.5 or later.

Catalogue:

pymycobot
MyCobot / Mypalletizer
Angle
Coord
utils (Module)
- get_port_list
- detect_port_of_basic
MyCobotSocket
MyBuddy

MyCobot / Mypalletizer

Import to your project:

# for mycobot
from pymycobot import MyCobot

# for mypalletizer
# from pymycobot import MyPalletizer

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: send_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.

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_increment

Prototype: jog_increment(coord_id, direction, speed)
Description: Step mode.
Parameters
- coord_id: (int) 1 ~ 6
- direction:
- speed: 0 ~ 100

jog_stop

Prototype: jog_stop()
Description: Stop jog moving.

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

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

get_encoders

Prototype: get_encoders()
Description: Get the six joints of the manipulator.
Returns: the list of encoder (list)

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

set_joint_min

Prototype: set_joint_min(id, angle)
Description: Sets the minimum angle for the specified joint.
Parameters:
- id: (int) joint id 1-6.
- angle: 0 - 180.

set_joint_max

Prototype: set_joint_max(id, angle)
Description: Sets the maximum angle of the specified joint.
Parameters:
- id: (int) joint id 1-6.
- angle: 0 - 180.

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): 0 ~ 100
- 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

get_basic_input

Prototype: get_basic_input(pin_no)
Description: Get bottom pin.
Parameters
- pin_no (int) Pin number.
Return: pin_signal (int) 0 / 1

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

set_ssid_pwd

Prototype: set_ssid_pwd(account, password)
Description: Change connected wifi.(Apply to m5 or seeed)
Parameters
- account (str) new wifi account.
- password (str): new wifi password.

get_ssid_pwd

Prototype: get_ssid_pwd()
Description: Get connected wifi account and password.(Apply to m5 or seeed)
Return: (account, password).

set_server_port

Prototype: set_server_port(port)
Description: Change the connection port of the server.
Parameters
- port: (int) The new connection port of the server.

get_tof_distance

Prototype: get_tof_distance()
Description: Get the detected distance (Requires external distance detector).
Return: int The unit is mm.

get_tool_reference

Prototype: get_tool_reference()
Description: Get tool coordinate system.
Return: list [x, y, z, rx, ry, rz].

set_tool_reference

Prototype: set_tool_reference(coords)
Description: Set tool coordinate system.
Parameters:
- coords: (list) [x, y, z, rx, ry, rz].

set_world_reference

Prototype: set_world_reference(coords)
Description: Set world coordinate system.
Parameters:
- coords: (list) [x, y, z, rx, ry, rz].

get_world_reference

Prototype: get_world_reference()
Description: Get world coordinate system.
Return: list [x, y, z, rx, ry, rz].

set_reference_frame

Prototype: set_reference_frame(rftype)
Description: Set base coordinate system.
Parameters:
- rftype: 0 - base 1 - tool.

get_reference_frame

Prototype: get_reference_frame()
Description: Get base coordinate system.
Return: 0 - base 1 - tool.

set_movement_type

Prototype: set_movement_type(move_type)
Description: Set movement type.
Parameters:
- move_type: 1 - movel, 0 - moveJ.

get_movement_type

Prototype: get_movement_type()
Description: Get movement type.
Return: 1 - movel, 0 - moveJ.

set_end_type

Prototype: set_end_type(end)
Description: Set end coordinate system.
Parameters:
- end: 0 - flange, 1 - tool.

get_end_type

Prototype: get_end_type()
Description: Get end coordinate system.
Return: 0 - flange, 1 - tool.

get_plan_speed

Prototype: get_plan_speed()
Description: Get planning speed.
Return: [ movel planning speed, movej planning speed].

get_plan_acceleration

Prototype: get_plan_acceleration()
Description: Get planning acceleration.
Return: [ movel planning acceleration, movej planning acceleration].

set_plan_speed

Prototype: set_plan_speed(speed, is_linear)
Description: Set planning speed.
Parameters
- speed (int) 0 - 100.
- is_linear (int): 0 / 1 (0 ->joint, 1 -> line)

set_plan_acceleration

Prototype: set_plan_acceleration(acceleration, is_linear)
Description: Set planning acceleration.
Parameters
- acceleration (int) 0 - 100.
- is_linear (int): 0 / 1 (0 ->joint, 1 -> line)

get_servo_speeds

Prototype: get_servo_speeds()
Description: Get joint velocity.
Return: list Speed of each joint.

get_servo_currents

Prototype: get_servo_currents()
Description: Get joint current.
Return: list Current of each joint.

get_servo_voltages

Prototype: get_servo_voltages()
Description: Get joint voltage.
Return: list Voltage of each joint.

get_servo_status

Prototype: get_servo_status()
Description: Get the state of each joint.
Return: list the state of each joint.

get_servo_temps

Prototype: get_servo_temps()
Description: Get the temperature of each joint.
Return: list temperature of each joint.

init_eletric_gripper

Prototype: init_eletric_gripper()
Description: Electric gripper initialization (it needs to be initialized once after inserting and removing the gripper) (only for 350)

set_eletric_gripper

Prototype: set_eletric_gripper(status)
Description: Set Electric Gripper Mode (only for 350).
Parameters
- status (int): 0 - open, 1 - close.

set_encoders_drag

Prototype: set_encoders_drag(encoders, speeds)
Description: Send all encoders and speeds
Parameters
- encoders (list) : encoders list.
- speeds: Obtained by the get_servo_speeds() method

set_refresh_mode

Prototype: set_refresh_mode(mode)
Description: Set command refresh mode
Parameters
- mode: 0 - with interpolation 1 - No interpolation

Raspberry pi -- GPIO

gpio_init

Prototype: gpio_init()
Description: Init GPIO module, and set BCM mode.

gpio_output

Prototype: gpio_output(pin, v)
Description: Set GPIO port output value.
Parameters
- pin (int) Pin number.
- v (int): 0 / 1

Angle

from pymycobot import Angle

Description

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

Coord

from pymycobot import Coord

Description

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

utils (Module)

This module support some help method.

Usage:

from pymycobot import utils

get_port_list

Prototype: get_port_list()
Description: Get the all serial port list.
Return: serial port list (list)

detect_port_of_basic

Prototype: detect_port_of_basic()
Description: Returns the serial port string of the first detected M5 Basic. If it is not found, it returns None.
Return: detected port (str) or None

Example:

from pymycobot import MyCobot, utils

port = utils.detect_port_of_basic()
if port is None:
 raise Exception('Detection failed.')
mycobot = MyCobot(port, 115200)

MyCobotSocket

Note: raspberryPi version Only supports python3 The robotic arm that uses this class of premise has a server and has been turned on.

Use TCP/IP to control the robotic arm

Client

# demo
from pymycobot import MyCobotSocket
# Port 9000 is used by default
mc = MyCobotSocket("192.168.10.10","9000")

mc.connect("/dev/ttyAMA0","1000000")

res = mc.get_angles()
print(res)

mc.send_angles([0,0,0,0,0,0],20)
...

Server

Server file is in the demo folder

socket control

Note: Most of the methods are the same as the class mycobot, only the new methods are listed here.

connect

Prototype: connect(serialport, baudrate, timeout)
Description: Connect the robot arm through the serial port and baud rate
Parameters
- serialport: (str) default /dev/ttyAMA0.
- baudrate: default 1000000.
- timeout: default 0.1.

set_gpio_mode

Prototype: set_gpio_mode(mode)
Description: Set pin coding method.
Parameters
- mode (str) "BCM" or "BOARD".

set_gpio_out

Prototype: set_gpio_out(pin_no, mode)
Description: Set the pin as input or output.
Parameters
- pin_no (int) pin id.
- mode (str) "in" or "out"

set_gpio_output

Prototype: set_gpio_output(pin_no, state)
Description: Set the pin to high or low level.
Parameters
- pin_no (int) pin id.
- state (int) 0 or 1

get_gpio_in

Prototype: get_gpio_in(pin_no)
Description: Get pin level status.
Parameters
- pin_no (int) pin id.

# Set up the demo of the suction pump
import time
from pymycobot import MyCobotSocket
# connect server
m = MyCobotSocket("192.168.10.10", '9000')
# default serialport:/dev/ttyAMA0 Baudrate:1000000
m.connect()

m.set_gpio_mode("BCM")
m.set_gpio_out(20, "out")
m.set_gpio_out(21, "out")
# open
m.set_gpio_output(20, 0)
m.set_gpio_output(21, 0)
time.sleep(3)
# close
m.set_gpio_output(20, 1)
m.set_gpio_output(21, 1)

MyBuddy

base_to_single_coords(base_coords, arm)

Convert base coordinates to coordinates

Parameters
- coords – a list of base coords value len 6
- arm – 0 - left. 1 - right
Returns

coords

collision(left_angles, right_angles)

Collision detection main program

Parameters
- left_angles – left arm angle len 6.
- right_angles – right arm angle len 6.
Returns

int

collision_switch(state)

Collision Detection Switch

Parameters

state (int) – 0 - close 1 - open (Off by default)

focus_servo(id, servo_id)

Power on designated servo

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – 1 - 6

get_acceleration(id)

Read acceleration during all moves

Parameters

id – 1/2/3 (L/R/W)

get_angle(id, joint_id)

Get the angle of a single joint

Parameters
- id (int) – 1/2/3 (L/R/W).
- joint_id (int) – 1 - 7 (7 is gripper)

get_angles(id)

Get the degree of all joints.

Parameters

id – 1/2 (L/R)
Returns

A float list of all degree.
Return type

list

get_base_coord(id)

Get the base coordinates of the single arm

Parameters

id – 1/2 (L/R)

get_base_coords(*args: int)

Convert coordinates to base coordinates. Pass in parameters or no parameters

Parameters
- coords – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]
- arm – 0 - left. 1 - right
Returns

Base coords

get_coord(id, joint_id)

Read a single coordinate parameter

Parameters
- id (int) – 1/2/3 (L/R/W).
- joint_id (int) – 1 - 7 (7 is gripper)

get_coords(id)

Get the coordinates of the robotic arm

Parameters

id – 1/2 (L/R).

get_digital_input(id, pin_no)

singal value

Parameters
- id – 1/2 (L/R)
- pin_no (int) – 1 - 5

get_encoder(id, joint_id)

Obtain the specified joint potential value.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – (int) 1 ~ 6
Returns

0 ~ 4096

get_encoders(id)

Get the six joints of the manipulator

Parameters

id – 1/2 (L/R).
Returns

The list of encoders

get_end_type(id)

Get end coordinate system

Parameters

id – 0/1/2 (ALL/L/R)
Returns

0 - flange 1 - tool

get_gripper_value(id)

Get the value of gripper.

Parameters

id – 1/2 (L/R)
Returns

gripper value (int)

get_joint_current(id, joint_id)

Get Collision Current

Parameters
- id – 0/1/2 (ALL/L/R)
- joint_id – 1 - 6

get_joint_max_angle(id, joint_id)

Gets the maximum movement angle of the specified joint

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – (int) 1 - 6
Returns

angle value(float)

get_joint_min_angle(id, joint_id)

Gets the minimum movement angle of the specified joint

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – (int) 1 - 6
Returns

angle value(float)

get_movement_type(id)

Get movement type

Parameters

id – 0/1/2 (ALL/L/R)
Returns

1 - movel 0 - moveJ

get_plan_acceleration(id=0)

Get planning acceleration

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

[movel planning acceleration, movej planning acceleration].

get_plan_speed(id=0)

Get planning speed

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

[movel planning speed, movej planning speed].

get_reference_frame(id)

Get the base coordinate system

Parameters

id – 0/1/2 (ALL/L/R)
Returns

0 - base 1 - tool.

get_robot_id(id)

Detect this robot id

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_robot_version(id)

Get cobot version

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_servo_currents(id)

Get joint current

Parameters

id – 1/2/3 (L/R/W)
Returns

value mA

get_servo_data(id, servo_no, data_id)

Read the data parameter of the specified address of the steering gear.

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.
- data_id – Data address.
Returns

values (0 - 4096) 0 - disable 1 - enable -1 - error

get_servo_status(id)

Get joint status

Parameters

id – 1/2/3 (L/R/W)
Returns

[voltage, sensor, temperature, current, angle, overload], a value of 0 means no error

get_servo_spees(id)

Get joint speed

Parameters

id – 1/2/ (L/R)
Returns

list len 6

get_servo_temps(id)

Get joint temperature

Parameters

id – 1/2/3 (L/R/W)

get_servo_voltages(id)

Get joint voltages

Parameters

id – 1/2/3 (L/R/W)
Returns

volts < 24 V

get_speed(id)

Get speed

Parameters

id – 1/2/3 (L/R/W).
Returns

speed
Return type

int

get_system_version(id)

Get cobot version

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_tool_reference(id)

Get tool coordinate system

Parameters

id – 0/1/2 (ALL/L/R)

get_world_reference(id)

Get the world coordinate system

Parameters

id – 0/1/2 (ALL/L/R)

is_all_servo_enable(id)

Determine whether the specified steering gear is connected

Parameters

id – 1/2/3 (L/R/W)
Returns

0 - disable 1 - enable -1 - error

is_collision_on()

Get collision detection status

is_controller_connected(id=0)

Wether connected with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

is_free_mode(id)

Check if it is free mode

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

0/1

is_gripper_moving(id)

Judge whether the gripper is moving or not

Parameters

id – 1/2 (L/R)
Returns

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

is_in_position(id, data, mode)

Judge whether in the position.

Parameters
- id – 0/1/2/3 (ALL/L/R/W).
- data – A data list, angles or coords. If id is 1/2. data length is 6. If id is 0. data len 13. if id is 3. data len 1
- mode – 1 - coords, 0 - angles
Returns

1 - True 0 - False -1 - Error

is_moving(id)

Detect if the robot is moving

Parameters

id – 0/1/2/3 (ALL/L/R/W).
Returns

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

is_paused(id)

Judge whether the manipulator pauses or not.

Parameters

id – 0/1/2/3 (ALL/L/R/W).
Returns

1 - paused 0 - not paused -1 - error

is_power_on(id=0)

Adjust robot arm status

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

1 - power on 0 - power off -1 - error data

is_servo_enable(id, servo_id)

Determine whether all steering gears are connected

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – (int) 1 ~ 6
Returns

0 - disable 1 - enable -1 - error

jog_absolute(id, joint_id, angle, speed)

Absolute joint control

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- angle – int
- speed – int (0 - 100)

jog_angle(id, joint_id, direction, speed)

Jog control angle.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- direction – 0 - decrease, 1 - increase
- speed – int (0 - 100)

jog_coord(id, coord_id, direction, speed)

Jog control coord.

Parameters
- id – 1/2/3 (L/R/W).
- coord_id – int 1-6 (x/y/z/rx/ry/rz).
- direction – 0 - decrease, 1 - increase
- speed – int (0 - 100)

jog_inc_coord(axis, increment, speed)

Double-arm coordinated coordinate stepping

Parameters
- axis – 1 - 6 (x/y/z/rx/ry/rz)
- increment –
- speed – 1 - 100

jog_increment(id, joint_id, increment, speed)

step mode

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- increment –
- speed – int (1 - 100)

jog_stop(id)

Stop jog moving

Parameters

id – 1/2/3 (L/R/W).

joint_brake(id, joint_id)

Make it stop when the joint is in motion, and the buffer distance is positively related to the existing speed

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – 1 - 6

pause(id)

Pause movement

Parameters

id – 0/1/2/3 (ALL/L/R/W).

power_off(id=0)

Close communication with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

power_on(id=0)

Open communication with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

read_next_error(id=0)

Robot Error Detection

Parameters

id – 0/1/2/3 (ALL/L/R/W)

release_all_servos(id=0)

Robot turns off torque output

Parameters

id – 0/1/2/3 (ALL/L/R/W)

release_servo(id, servo_id)

Power off designated servo

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – 1 - 6.

resume(id)

Recovery movement

Parameters

id – 0/1/2/3 (ALL/L/R/W).

send_angle(id, joint, angle, speed)

Send one degree of joint to robot arm.

Parameters
- id – 1/2/3 (L/R/W)
- joint – 1 ~ 6
- angle – int
- speed – 1 ~ 100

send_angles(id, degrees, speed)

Send all angles to the robotic arm

Parameters
- id – 1/2 (L/R).
- degrees – [angle_list] len 6
- speed – 1 - 100

send_coord(id, coord, data, speed)

Send a single coordinate to the robotic arm

Parameters
- id – 1/2/3 (L/R/W).
- coord – 1 ~ 6 (x/y/z/rx/ry/rz)
- data – Coordinate value
- speed – 0 ~ 100

send_coords(id, coords, speed, mode)

Send all coords to robot arm.

Parameters
- id – 1/2 (L/R).
- coords – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]
- speed – (int) 0 ~ 100
- mode – (int) 0 - moveJ, 1 - moveL, 2 - moveC

set_acceleration(id, acc)

Read acceleration during all moves

Parameters
- id – 1/2/3 (L/R/W)
- acc – 1 - 100

set_color(id, r=0, g=0, b=0)

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

Parameters
- id – 1/2 (L/R)
- r (int) – 0 ~ 255
- g (int) – 0 ~ 255
- b (int) – 0 ~ 255

set_digital_output(id, pin_no, pin_signal)

Set atom IO output level

Parameters
- id – 1/2 (L/R)
- pin_no (int) – 1 - 5
- pin_signal (int) – 0 / 1

set_encoder(id, joint_id, encoder, speed)

Set a single joint rotation to the specified potential value.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – 1 - 6.
- encoder – The value of the set encoder.

set_encoders(id, encoders, speed)

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

Parameters
- id – 1/2 (L/R).
- encoders – A encoder list, length 6.
- speed – speed 1 ~ 100

set_end_type(id, end)

Set end coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- end – 0 - flange, 1 - tool

set_encoders_drag(id, encoders, speeds)

Send all encoders and speeds

Parameters
- encoders - (list) : encoders list.
- speeds - Obtained by the get_servo_speeds() method

set_free_mode(id, value)

set free mode

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- value – 0 - close 1 - open

set_fresh_mode(id, mode)

Set command refresh mode

Parameters
- id – 1/2 (L/R).
- mode – int 0 - Always execute the latest command first. 1 - Execute instructions sequentially in the form of a queue.

set_gripper_calibration(id)

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

Parameters

id – 1/2 (L/R)

set_gripper_state(id, flag)

Set gripper switch state

Parameters
- id – 1/2 (L/R)
- flag (int) – 0 - close, 1 - open

set_gripper_value(id, value, speed)

Set gripper value

Parameters
- id – 1/2 (L/R)
- value (int) – 0 ~ 100
- speed (int) – 0 ~ 100

set_joint_current(id, joint_id, current)

Set Collision Current

Parameters
- id – 0/1/2 (ALL/L/R)
- joint_id – 1 - 6
- current – current value

set_joint_max(id, joint_id, angle)

Set the joint maximum angle

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – int 1-6.
- angle – 0 ~ 180

set_joint_min(id, joint_id, angle)

Set the joint minimum angle

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – int 1-6.
- angle – 0 ~ 180

set_movement_type(id, move_type)

Set movement type

Parameters
- id – 0/1/2 (ALL/L/R)
- move_type – 1 - movel, 0 - moveJ

set_pin_mode(id, pin_no, pin_mode)

Set the state mode of the specified pin in atom.

Parameters
- id – 1/2 (L/R)
- pin_no (int) – pin number (1 - 5).
- pin_mode (int) – 0 - input, 1 - output

set_plan_acceleration(id, acceleration)

Set planning acceleration

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- acceleration (int) – (0 ~ 100).

set_plan_speed(id, speed)

Set planning speed

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- speed (int) – (0 ~ 100).

set_pwm_output(id, channel, frequency, pin_val)

PWM control

Parameters
- id – 1/2 (L/R)
- channel (int) – IO number (1 - 5).
- frequency (int) – clock frequency (0/1: 0 - 1Mhz 1 - 10Mhz)
- pin_val (int) – Duty cycle 0 ~ 100: 0 ~ 100%

set_reference_frame(id, rftype)

Set the base coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- rftype – 0 - base 1 - tool.

set_robot_id(id, new_id)

Set this robot id

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- new_id – 1 - 253

set_servo_calibration(id, servo_no)

The current position of the calibration joint actuator is the angle zero point,

and the corresponding potential value is 2048.

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.

set_servo_data(id, servo_no, data_id, value)

Set the data parameters of the specified address of the steering gear

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.
- data_id – Data address.
- value – 0 - 4096

set_speed(id, speed)

Set speed value

Parameters
- id – 1/2/3 (L/R/W)
- speed (int) – 0 - 100

set_tool_reference(id, coords)

Set tool coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- coords – a list of coords value(List[float]), length 6. [x(mm), y, z, rx(angle), ry, rz]

set_world_reference(id, coords)

Set the world coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- coords – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]

stop(id)

Stop moving

Parameters

id – 0/1/2/3 (ALL/L/R/W).

write_base_coord(id, axis, coord, speed)

Base single coordinate movement

Parameters
- id – 1/2 (L/R)
- axis – 1 - 6 (x/y/z/rx/ry/rz)
- coord – Coordinate value
- speed – 1 - 100

write_base_coords(id, coords, speed)

base coordinate move

Parameters
- id – 1/2 (L/R)
- coords – coords: a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]
- speed – 1 - 100

get_radians(id)

Get the radians of all joints

Parameters

id – 1/2 (L/R)
Returns

A list of float radians [radian1, …]
Return type

list

send_radians(id, radians, speed)

Send the radians of all joints to robot arm

Parameters
- id – 1/2 (L/R).
- radians – a list of radian values( List[float]), length 6
- speed – (int )1 ~ 100

set_gpio_input(pin)

Set GPIO input value.

Parameters

pin – (int)pin number.

set_gpio_mode(pin_no, mode)

Init GPIO module, and set BCM mode.

Parameters
- pin_no – (int)pin number.
- mode – 0 - input 1 - output

set_gpio_output(pin, v)

Set GPIO output value.

Parameters
- pin – (int)pin number.
- v – (int) 0 / 1

set_gpio_pwm(pin, baud, dc)

Set GPIO PWM value.

Parameters
- pin – (int)pin number.
- baud – (int) 10 - 1000000
- dc – (int) 0 - 100

More demo can go to here.

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pymycobot 2.9.3b2

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Project description

This is Python API for myCobot

Installation

Pip

Source code

pymycobot

MyCobot / Mypalletizer

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

is_in_position

JOG mode and operation

jog_angle

jog_coord

jog_increment

jog_stop

pause

resume

stop

is_paused

set_encoder

get_encoder

set_encoders

get_encoders

Running status and Settings

get_speed

set_speed

set_joint_min

set_joint_max

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

get_basic_input

set_basic_output

set_ssid_pwd

get_ssid_pwd

set_server_port

get_tof_distance

get_tool_reference