MyBuddy Python API

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_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

• Returns

  • None

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 – int

  • 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_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 )0 ~ 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