myCobot

This is javascript API for mycobot.

MyCobot

Import to your project:

// basic demo
var mycobot = require("mycobot")

// obj Based on SerialPort
var obj = mycobot.connect("COM15",115200)

obj.write(mycobot.powerOn())

// Receive returned data
// obj.on("data",(data)=>{
//     res = mycobot.processReceived(data)
//     console.log("res:", res)
// })

Overall status

connect

  • Prototype: connect(port, baud)

  • Description:Create objects, connect devices (default open).

powerOn

  • Prototype: powerOn()

  • Description:Atom open communication (default open).

powerOff

  • Prototype: powerOff()

  • Description: Atom turn off communication.

isPowerOn

  • Prototype: isPowerOn()

  • Description: Adjust robot arm whether power on.

  • Returns

    • 1: power on
    • 0: power off

releaseAllServos

  • Prototype: releaseAllServos()

  • Description: Set robot arm into free moving mode.

MDI mode and operation

getAngles

  • Prototype: getAngles()

  • Description: Get the degree of all joints.

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

sendAngle

  • Prototype: sendAngle(id, degree, speed)

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

  • Parameters

    • id: Joint id
    • degree: degree value(number)
    • speed: (number) 0 ~ 100

  • Example

obj.write(mycobot.sendAngle(1,50,50))

sendAngles()

  • Prototype: sendAngles(angles, speed)

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

  • Parameters

    • degrees: a list of degree value(Array).

    • speed: (number) 0 ~ 100

  • Example

    obj.write(mycobot.sendAngles([0,0,0,0,0,0],60))

getCoords

  • Prototype: getCoords()

  • Description: Get the Coords from robot arm, coordinate system based on base.

  • Returns: object: A float list of coord - mycobot:[x, y, z, rx, ry, rz]; mypalletizer:[x, y, z, θ]

sendCoord

  • Prototype: sendCoord(id, coord, speed)

  • Description: Send one coord to robot arm.

  • Parameters

    • id: coord id
    • coord: coord value(number)
    • speed: (number) 0 ~ 100

  • Example

    obj.write(mycobot.sendCoord(x,20,50))

sendCoords

  • Prototype: sendCoords(coords, speed, mode)

  • Description: Send all coords to robot arm.

  • Parameters

    • coords: a list of coords value(Array).
    • speed: (number) 0 ~ 100
    • mode: 0 - angular, 1 - linear

  • Example

    obj.write(mycobot.sendCoords([160, 160, 160, 0, 0, 0], 70, 0))

isInPosition

  • Prototype: isInPosition(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

JOG mode and operation

jogAngle

  • Prototype: jogAngle(jointId, direction, speed)

  • Description: Jog control angle

  • Parameters

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

jogCoord

  • Prototype: jogCoord(coordId, direction, speed)

  • Description: Jog control coord.

  • Parameters

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

jogStop

  • Prototype: jogStop()

  • Description: Stop jog moving.

programPause

  • Prototype: programPause()

  • Description: Pause movement.

programResume

  • Prototype: programResume()

  • Description: Recovery movement.

stop

  • Prototype: stop()

  • Description: Stop moving.

setEncoder

  • Prototype: setEncoder(jointId, encoder)

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

  • Parameters

    • jointId: 1 ~ 6
    • encoder: 0 ~ 4096

getEncoder

  • Prototype: getEncoder(jointId)

  • Description:Obtain the specified joint potential value.

  • Parameters: jointId: 1 ~ 6

  • Returns: encoder: 0 ~ 4096

setEncoders

  • Prototype: setEncoders(encoders, speed)

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

  • Parameters:

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

getEncoders

  • Prototype: getEncoders()

  • Description: Get the all joints of the manipulator.

  • Returns: the list of encoder (Array)

Running status and Settings

getSpeed

  • Prototype: getSpeed()

  • Description: Get speed.

  • Returns: speed

setSpeed

  • Prototype: setSpeed(speed)

  • Description: Set speed.

  • Parameters: speed: 0 ~ 100

getJointMin

  • Prototype: getJointMin(jointId)

  • Description: Gets the minimum movement angle of the specified joint

  • Parameters: jointId

  • Returns: angle value (float)

getJointMax

  • Prototype: getJointMax(jointId)

  • Description: Gets the maximum movement angle of the specified joint

  • Parameters: jointId

  • Returns: angle value (float)

Servo control

isServoEnable

  • Prototype: isServoEnable(servoId)

  • Description: Determine whether all steering gears are connected

  • Parameters: servoId 1 ~ 6

  • Returns

    • 0: disable
    • 1: enable

isAllServoEnable

  • Prototype: isAllServoEnable()

  • Description: Determine whether the specified steering gear is connected

  • Returns

    • 0: disable
    • 1: enable

setServoData

  • Prototype: setServoData(servo_no, dataId, 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.
    • dataId: Data address.
    • value: 0 - 4096

getServodata

  • Prototype: getServodata(servo_no, dataId)

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

  • Parameters:

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

  • Returns: value: 0 - 4096

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

setServoCalibration

  • Prototype: setServoCalibration(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.

releaseServo

  • Prototype: releaseServo(servoId)

  • Description: Power off designated servo

  • Parameters: servoId: 1 ~ 6

focusServo

  • Prototype: focusServo(servoId)

  • Description: Power on designated servo

  • Parameters: servoId: 1 ~ 6

Atom IO

setColor

  • Prototype: setColor(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

setPinMode

  • Prototype: setPinMode(pin_no, pinMode)
  • Description: Set the state mode of the specified pin in atom.

  • Parameters

    • pin_no : Pin number.
    • pinMode : 0 - input, 1 - output, 2 - inputPullup

setDigitalOutput()

  • Parameters

    • pin_no :
    • pinSignal : 0 / 1

getDigitalInput()

  • Parameters: pin_no

  • Return: signal value

getGripperValue

  • Prototype: getGripperValue()

  • Description: Get gripper value

  • Return: gripper value

setGripperState

  • Prototype: setGripperState(flag, speed)

  • Description: Set gripper switch state

  • Parameters

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

setGripperValue

  • Prototype: setGripperValue(value, speed)

  • Description: Set gripper value

  • Parameters

    • value : 0 ~ 100
    • speed : 0 ~ 100

setGripperIni

  • Prototype: setGripperIni()

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

isGripperMving

  • Prototype: isGripperMving()

  • Description: Judge whether the gripper is moving or not

  • Returns

    • 0 : not moving
    • 1 : is moving

M5Stack-basic

setBasicOutput

  • Prototype: setBasicOutput(pin_no, pinSignal)

  • Description: Set bottom pin.

  • Parameters

    • pin_no : Pin number.
    • pinSignal : 0 / 1

getBasicOutput

  • Prototype: getBasicOutput(pin_no)

  • Description: get bottom pin.

  • Parameters

    • pin_no : Pin number.

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