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:

pip install pymycobot

Uninstalling pymycobot

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

pip uninstall pymycobot

Updating pymycobot

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

pip install pymycobot -U

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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  • 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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  • Download and installation complete. 7.1.1-1

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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  • 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).

     pip install pymycobot --upgrade --user

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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

pip install pymycobot --upgrade

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

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())

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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