pymycobot 2.9.8

Python API for serial communication of MyCobot.

This is Python API for myCobot

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 / MechArm
  • Overall status
    • power_on
    • power_off
    • is_power_on
    • read_next_error
    • release_all_servos
    • is_controller_connected
  • MDI mode and operation
    • get_angles
    • set_fresh_mode(mode)
    • 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
    • set_tool_reference
    • set_world_reference
    • get_world_reference
    • set_reference_frame
    • get_reference_frame
    • set_movement_type
    • get_movement_type
    • set_end_type
    • get_end_type
    • get_plan_speed
    • get_plan_acceleration
    • set_plan_speed
    • set_plan_acceleration
    • get_servo_speeds
    • get_servo_currents
    • get_servo_voltages
    • get_servo_status
    • get_servo_temps
    • init_eletric_gripper
    • set_eletric_gripper
    • set_encoders_drag
    • set_refresh_mode
  • Raspberry pi -- GPIO
    • gpio_init
    • gpio_output
• Angle
• Coord
• utils (Module)
  • get_port_list
  • detect_port_of_basic
• MyCobotSocket
  • Client
  • Server
  • socket control
    • connect
    • set_gpio_mode
    • set_gpio_out
    • set_gpio_output
    • get_gpio_in
• MyBuddy
  • base_to_single_coords(base_coords, arm)
  • collision(left_angles, right_angles)
  • collision_switch(state)
  • focus_servo(id, servo_id)
  • get_acceleration(id)
  • get_angle(id, joint_id)
  • get_angles(id)
  • get_base_coord(id)
  • get_base_coords(*args: int)
  • get_coord(id, joint_id)
  • get_coords(id)
  • get_digital_input(id, pin_no)
  • get_encoder(id, joint_id)
  • get_encoders(id)
  • get_end_type(id)
  • get_gripper_value(id)
  • get_joint_current(id, joint_id)
  • get_joint_max_angle(id, joint_id)
  • get_joint_min_angle(id, joint_id)
  • get_movement_type(id)
  • get_plan_acceleration(id=0)
  • get_plan_speed(id=0)
  • get_reference_frame(id)
  • get_robot_id(id)
  • get_robot_version(id)
  • get_servo_currents(id)
  • get_servo_data(id, servo_no, data_id)
  • get_servo_status(id)
  • get_servo_spees(id)
  • get_servo_temps(id)
  • get_servo_voltages(id)
  • get_speed(id)
  • get_system_version(id)
  • get_tool_reference(id)
  • get_world_reference(id)
  • is_all_servo_enable(id)
  • is_collision_on()
  • is_controller_connected(id=0)
  • is_free_mode(id)
  • is_gripper_moving(id)
  • is_in_position(id, data, mode)
  • is_moving(id)
  • is_paused(id)
  • is_power_on(id=0)
  • is_servo_enable(id, servo_id)
  • jog_absolute(id, joint_id, angle, speed)
  • jog_angle(id, joint_id, direction, speed)
  • jog_coord(id, coord_id, direction, speed)
  • jog_inc_coord(axis, increment, speed)
  • jog_increment(id, joint_id, increment, speed)
  • jog_stop(id)
  • joint_brake(id, joint_id)
  • pause(id)
  • power_off(id=0)
  • power_on(id=0)
  • read_next_error(id=0)
  • release_all_servos(id=0)
  • release_servo(id, servo_id)
  • resume(id)
  • send_angle(id, joint, angle, speed)
  • send_angles(id, degrees, speed)
  • send_coord(id, coord, data, speed)
  • send_coords(id, coords, speed, mode)
  • set_acceleration(id, acc)
  • set_color(id, r=0, g=0, b=0)
  • set_digital_output(id, pin_no, pin_signal)
  • set_encoder(id, joint_id, encoder, speed)
  • set_encoders(id, encoders, speed)
  • set_end_type(id, end)
  • set_encoders_drag(id, encoders, speeds)
  • set_free_mode(id, value)
  • set_fresh_mode(id, mode)
  • set_gripper_calibration(id)
  • set_gripper_state(id, flag)
  • set_gripper_value(id, value, speed)
  • set_joint_current(id, joint_id, current)
  • set_joint_max(id, joint_id, angle)
  • set_joint_min(id, joint_id, angle)
  • set_movement_type(id, move_type)
  • set_pin_mode(id, pin_no, pin_mode)
  • set_plan_acceleration(id, acceleration)
  • set_plan_speed(id, speed)
  • set_pwm_output(id, channel, frequency, pin_val)
  • set_reference_frame(id, rftype)
  • set_robot_id(id, new_id)
  • set_servo_calibration(id, servo_no)
  • set_servo_data(id, servo_no, data_id, value)
  • set_speed(id, speed)
  • set_tool_reference(id, coords)
  • set_world_reference(id, coords)
  • stop(id)
  • write_base_coord(id, axis, coord, speed)
  • write_base_coords(id, coords, speed)
  • get_radians(id)
  • send_radians(id, radians, speed)
  • set_gpio_input(pin)
  • set_gpio_mode(pin_no, mode)
  • set_gpio_output(pin, v)
  • set_gpio_pwm(pin, baud, dc)
• MyBuddyEmoticon
  • MyBuddyEmoticon(file_path: list = [], window_size: tuple = [], loop=False)
    • add_file_path(path_time: list)
    • del_file_path(index: int)
    • file_path
    • join()
    • pause()
    • run()
    • start()

MyCobot / Mypalletizer / MechArm

Import to your project:

# for mycobot
from pymycobot import MyCobot

# for mypalletizer
# from pymycobot import MyPalletizer

# for MechArm
# from pymycobot import MechArm

mc = MyCobot("com10",115200)
# mc = MyPalletizer("com10",115200)
# mc = MechArm("com10",115200)

print(mc.get_angles())

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

read_next_error

• Prototype: read_next_error()

• Description: Robot Error Detection.

• Returns list len 7

  • 0: No abnormality
  • 1: Communication disconnected
  • 2: Unstable communication
  • 3 : Servo abnormality

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.

set_fresh_mode(mode)

Set command refresh mode

• Parameters

  • mode – int 1 - Always execute the latest command first. 0 - Execute instructions sequentially in the form of a queue.

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]).
  • 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]).
  • 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]).
  • 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.
  • 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.
  • 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 1 - Always execute the latest command first. 0 - 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

MyBuddyEmoticon

MyBuddyEmoticon(file_path: list = [], window_size: tuple = [], loop=False)

API for playing emoticons

• Parameters

  • file_path - [[path, time],...] The absolute path of facial expression video and the length of time to play.Time in seconds.

  • window_size - (Length, width) Size of the playback window (default is full screen).

  • loop - Loop playback or not (only once by default).

from pymycobot import MyBuddyEmoticon
import time

# playlist
file_path = [
  ['/home/er/emo/look_happy.mp4', 10],
]
# Initialize the object and set it to loop playback
em = MyBuddyEmoticon(file_path, loop = True)
# Start playing
em.start()

# Pause playback after 3 seconds
# time.sleep(3)
# em.pause()

# Continue playing
# em.run()

# The main thread waits for the completion of playback
em.join()

add_file_path(path_time: list)

Add Playback File

• Parameters

  path_time – [path, time] The video address to be added and the running time

del_file_path(index: int)

Delete the element with the specified subscript in the playlist list

• Parameters

  index – The subscript of the element in the playlist to be deleted

file_path

Get Playfile List

• Returns

  list

join()

Wait for the thread playing the video to finish

pause()

Pause playback

run()

Continue playing

start()

Start playing

---

More demo can go to here.