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环境配置

pymycobot是Elephant Robot开发的Python库，用于机器人控制。

Linux

系统出厂时默认安装了Python 3.8.10，并且已经安装了pymycobot控制库，用户无需自行安装。

pymycobot 安装

通过终端输入命令即可安装pymycobot

Environment Configuration

pymycobot is a Python library developed by Elephant Robot for robot control.

Linux

The system comes pre-installed with Python 3.8.10 and the pymycobot control library, so users do not need to install it themselves.

Installing pymycobot

You can install pymycobot by entering the following command in the terminal:

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pip install pymycobot

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pymycobot 卸载

您可以通过终端输入命令来卸载pymycobot

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Uninstalling pymycobot

You can uninstall pymycobot by entering the following command in the terminal:

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pip uninstall pymycobot

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pymycobot 更新

您可以通过终端输入命令来更新pymycobot

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Updating pymycobot

You can update pymycobot by entering the following command in the terminal:

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pip install pymycobot -U

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窗口

1.1 安装Python

> 注意： 安装前，请检查PC的操作系统。 在“我的电脑”图标上按右键，然后选择“属性”。安装相应的Python。

Windows

1.1 Installing Python

Note: Before installation, check the operating system of your PC. Right-click on the "My Computer" icon and select "Properties". Install the corresponding Python version.

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  • 前往http://www.python.org/download/下载Python。

  • 点击“下载”，然后开始下载。 勾选“将 Python 3.10 添加到 PATH”。 单击“立即安装”，然后开始安装。

  • Go to http://www.python.org/download/ to download Python.
  • Click "Download" to start downloading. Check "Add Python 3.10 to PATH". Click "Install Now" to start the installation.

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  • 下载并安装完成。 7.1.1-1

1.2 运行Python

打开命令提示符窗口（Win+R，输入“cmd”并按“Enter”）。 输入“Python”。

安装成功：

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屏幕上出现此指示意味着 Python 已成功安装。 提示符“>>>”表示Python交互环境。 如果输入一段Python代码，立即得到执行结果。

错误报告：

如果输入了错误的指令，例如“pythonn”，系统可能会报告错误。

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注意： 一般情况下，该错误是由于环境配置不足造成的。 参考1.3 环境配置解决问题。

1.3 环境变量配置

Windows 遵循 Path 环境变量设置的路径来搜索 python.exe 。 否则会报错。 如果安装时没有勾选“Add Python 3.9 to PATH”，则需要手动将python.exe所在路径添加到环境变量中或者重新下载python。 请记住勾选“将 Python 3.9 添加到 PATH”。

按照以下步骤手动将 python 添加到环境变量中。

  • 右键单击“我的电脑”图标 --> 属性 -> 高级系统设置 -> 环境变量

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* 环境变量包括用户变量和系统变量。 对于用户变量，用户可以通过“cmd”命令使用自己下载的程序。 将目标程序的绝对路径写入用户变量中。

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1.2 Running Python

Open the Command Prompt window (Win+R, type "cmd" and press "Enter"). Type "Python".

Successful Installation:

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Seeing this prompt on the screen means that Python has been successfully installed. The prompt ">>>" indicates the Python interactive environment. If you enter a piece of Python code, you will get the execution result immediately.

Error Report:

If you enter an incorrect command, such as "pythonn", the system may report an error.

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Note: Generally, this error is caused by insufficient environment configuration. Refer to 1.3 Environment Configuration to solve the problem.

1.3 Environment Variable Configuration

Windows follows the Path environment variable settings to search for python.exe. Otherwise, an error will be reported. If you did not check "Add Python 3.9 to PATH" during installation, you need to manually add the path where python.exe is located to the environment variables or re-download Python. Remember to check "Add Python 3.9 to PATH".

Follow these steps to manually add Python to the environment variables.

  • Right-click on the "My Computer" icon --> Properties -> Advanced System Settings -> Environment Variables

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  • Environment variables include user variables and system variables. For user variables, users can use the programs they downloaded through the "cmd" command. Write the absolute path of the target program into the user variables.

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  • 配置完成后，打开命令提示符窗口（Win+R；输入“cmd”并按“Enter”），然后输入“Python”。

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2 PyCharm的安装

PyCharm 是一款功能强大、具有跨平台性质的 Python 编辑器。 请按照以下步骤下载并安装 PyCharm。

前往 PyCharm 下载 PyCharm。

2.1 下载与安装

官网查看：

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建议安装免费版本。

  • 点击“下一步”：

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  • 根据您的需要选择选项，然后选择“下一步”：

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  • 点击“安装”：

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  • 安装：

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  • 点击“完成”

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2.2 创建新项目

  • 点击“+新建项目”：

  • Interpreter 用于解释Python程序。 选择“添加解释器”->“新建”以添加基本解释器。

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  • Location是指保存python文件的位置。 选择一个文件来放置您的程序。

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  • 点击“创建”，会出现一个示例：

  • 右键单击红色箭头所指的选项，然后创建一个新的 python 文件。

  • 键入新文件的名称。

3 准备工作

* pymycobot 安装。 通过终端（Win+R）“cmd”命令输入“pip install pymycobot --upgrade --user”。

  • After configuration is complete, open the Command Prompt window (Win+R; type "cmd" and press "Enter"), and then type "Python".

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2 Installing PyCharm

PyCharm is a powerful, cross-platform Python editor. Follow these steps to download and install PyCharm.

Go to PyCharm to download PyCharm.

2.1 Download and Install

Official website view:

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It is recommended to install the free version.

  • Click "Next":

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  • Select options according to your needs, then select "Next":

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  • Click "Install":

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  • Installation:

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  • Click "Finish"

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2.2 Creating a New Project

  • Click "+Create New Project":

  • Interpreter is used to interpret Python programs. Select "Add Interpreter" -> "New" to add a base interpreter.

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  • Location refers to the location where the Python files are saved. Choose a folder to place your program.

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  • Click "Create", and an example will appear:

  • Right-click on the option indicated by the red arrow, and create a new Python file.

  • Type the name of the new file.

3 Preparation

  • Install pymycobot. Enter the command "pip install pymycobot --upgrade --user" in the terminal (Win+R, type cmd).

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     pip install pymycobot --upgrade --user

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  • 源码安装。 打开终端（Win+R，输入 cmd ），然后输入以下命令进行安装。

     git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
 #<your-path>中填写你的安装地址，不要选择当前默认路径。

 cd <your-path>/pymycobot
 #进入下载包的pymycobot文件夹。

 #根据您的python版本运行以下命令之一。
 ＃ install
  python2 setup.py install
 ＃ or
  python3 setup.py install

  • 更新pymycobot

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  • Source code installation. Open the terminal (Win+R, type cmd), and then enter the following commands to install.

     git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
 #<your-path> is your installation address, do not choose the current default path.

 cd <your-path>/pymycobot
 #Enter the pymycobot folder of the downloaded package.

 #Run one of the following commands according to your Python version.
 # install
  python2 setup.py install
 # or
  python3 setup.py install

  • Update pymycobot

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pip install pymycobot --upgrade

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注意：

  1. 如果代码下方没有出现红色波浪线，则说明pymycobot安装成功。
  2. 如果出现红色波浪线，请前往地址 https://github.com/elephantrobotics/pymycobot 手动下载 pymycobot 并将其放入 python 库中。

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Python的基本使用

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Note:

  1. If there is no red wavy line under the code, it means that pymycobot is successfully installed.
  2. If there is a red wavy line, please manually download pymycobot from https://github.com/elephantrobotics/pymycobot and place it in the Python library.

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Basic Use of Python

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from pymycobot import Mercury

ml = Mercury('/dev/left_arm')
mr = Mercury('/dev/right_arm')

ml.power_on()
mr.power_on()

print(ml.get_angles())
print(mr.get_angles())
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```

This code snippet demonstrates how to initialize and power on the left and right arms of the Mercury robot using the pymycobot library. It also retrieves and prints the joint angles of both arms.

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