Introduction to API

API or Application Programming Interface refers to a number of preset programs. Before utilization, it is required to import API library:

# for mycobot,mecharm
from pymycobot.mycobot import MyCobot

# for mypalletizer
from pymycobot.mypalletizer import MyPalletizer

# for myBuddy
from pymycobot.mybuddy import MyBuddy

Notice: Functions with return value are required to use print() to print value. For example, if you want to get the speed value, type print(get_speed()), instead of get_speed().

1 Overall Status

1.1 power_on()

• Function: Atom open communication (default open)

• Return Value: None

1.2 power_off()

• Function: Atom turn off communication

• Return Value: None

1.3 is_power_on()

• Function: judge whether robot arms is powered on or not

• Return Value:

  • 1: power on
  • 0: power off
  • -1: error

1.4 release_all_servos

• Function: release all robot arms
• Return Value: None

1.5 is_controller_connected

• Function: check if connected with Atom.

• Return Value:

  • 1: connected
  • 0: not connected
  • -1: error

2 Operating Mode

2.1pause()

• Function: pause motion
• Return Value: None

2.2 stop()

• Function: stop motion
• Return Value: None

2.3 resume()

• Function: resume motion
• Return Value: None

2.4 is_paused()

• Function: judge whether motion pauses or not
• Return Value:
  • 1: pause
  • 0: not pause
  • -1: error

2.5 get_speed()

• Function: get motion speed
• Return Value: range from 0-100

2.6 set_speed()

• Function: set motion speed

• Parameter: range from 0-100

• Return Value: None

2.7 get_joint_min_angle(joint_id)

• Function: get minimum speed of a joint
• Parameter: range from 1-6 or 1-4
• Return Value: angle value

2.8 get_joint_max_angle(joint_id)

• Function: get maximum speed of a joint
• Parameter: range from 1-6 or 1-4
• Return Value: angle value

2.9 is_servo_enable(servo id)

• Function: judge whether a servo is enabled
• Parameter: range from 1-6 or 1-4
• Return Value:
  • 1: enabled
  • 0: not enabled
  • -1: error

2.10 is_all_servo_enable()

• Function: judge whether all servos are enabled
• Return Value:
  • 1: enabled
  • 0: not enabled
  • -1: error

2.11 release_servo(servo_id)

• Function: release a servo
• Parameter: range from 1-6 or 1-4
• Return Value:
  • 1: enabled
  • 0: not enabled
  • -1: error

2.12 get_tof_distance()

• Function: get tested distance
• Return Value: distance value

2.13 get_error_information()

• Function: get error message.
• Return Value:
  • 0: no error message.
  • 1 ~ 6: The corresponding joint exceeds the limit.
  • 16 ~ 19: collision protection.
  • 32: Kinematics inverse solution has no solution.
  • 33 ~ 34: Linear motion has no adjacent solution.

2.14 clear_error_information()

• Function: clear error message

3 MDI Mode

Notice: Different types of manipulators have different limits, and the angle and coordinate limits that can be set are also different. Refer to the parameter introduction section.

3.1 get_angles()

• Function: get the degree of all joints.
• Returns: A float list of all degree.

3.2 send_angle(id, degree, speed)

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

• Parameters

  • id: Joint id(genre.Angle) / int 1-6
  • degree: degree value(float)
  • 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)

3.3 send_angles(degrees, speed)

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

• Parameters:

  • degrees: a list of degree value(List[float]), length 6 or 4.

  • 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)

3.4 get_coords()

• Function: get the Coords from robot arm, coordinate system based on base.

• Returns: A float list of coord:[x, y, z, rx, ry, rz] or [x, y, z, rx]

3.5 send_coord(id, coord, speed)

• Function: 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)

3.6 send_coords(coords, speed, mode)

• Function: send all coords to robot arm.
• Parameters:
  • coords: a list of coords value(List[float]), length 6.
  • 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)

3.7 get_encoders()

• Function: get encoders of all joint
• Parameter: a list of encoder values, at the length of 4 or 6

3.8 get_encoder(joint_id)

• Function: get encoders of a joint
• Parameter: joint ID, ranging from 1-4 or 1-6

3.9 get_radians()

• Function: get the radians of all joints
• Returns: A float list of radian

3.10 send_radians(radians, speed)

• Function: send the radians of all joint to robot arm.
• Parameter:
  • radians: a list of radian value(List[float]), length 6 or 4.
  • speed: (int) 0 ~ 100

##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_radian([1,1,1,1,1,1], 70)

3.11 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]), length 6.
  • speed: (int) 0 ~ 100
  • timeout: default 7s.

3.12 sync_send_coords(coords, speed, mode, timeout=7)

• Function: 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.

3.13 is_in_position(data, flag)

• Function: judge whether in the position.

• Parameters:

  • data: A data list, angles or coords, length 6 or 4.
  • flag: Tag the data type, 0 - angles, 1 - coords.

• Return Value:

  • 1 - true
  • 0 - false
  • -1 - error

3.14 is_moving()

• Function: judge whether the robot is moving
• Return Value:
  • 1 moving
  • 0 not moving
  • -1 error

3.15 set_color(r, g, b)

• Function: set the color of RGB light panel
• Parameters:
  • R: 0-255
  • G: 0-255
  • B: 0-255
• Return Value: None

3.16 get_radians()

• Function: get radians of all arms
• Return Value: a list of radian values

3.17 send_radians(radians, speed)

• Function: send radians and speed to all arms
• Parameters:
  • radians: radians values of arms
  • speed: speed of arms

4 JOG Mode

4.1 jog_angle(joint_id, direction, speed)

• Function: jog control angle

• Parameters:

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

4.2 jog_coord(coord_id, direction, speed)

• Function: jog control coord.

• Parameters:

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

4.3jog_stop()

• Function: stop jog moving
• Return Value: None

4.4 pause()

• Function: Pause motion
• Return Value: None

4.5 resume()

• Function: recovery motion
• Return Value: None

4.6 stop()

• Function: stop motion
• Return Value: None

4.7 is_paused()

• Function: judge whether the manipulator pauses or not
• Returns :
  • 1 - paused
  • 0 - not paused
  • -1 - error

4.8 set_encoder(joint_id, encoder)

• Function: set a single joint rotation to the specified potential value.

• Parameters:

  • joint_id: (int) 1 ~ 6 or 1~4
  • encoder: 0 ~ 4096

4.9 get_encoder(joint_id)

• Function: obtain the specified joint potential value.
• Parameters: joint_id: (int) 1 ~ 6 or 1~4
• Returns:
  • encoder: 0 ~ 4096

4.10 set_encoders(encoders, sp)

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

• Parameters:

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

4.11 get_encoders()

• Function: get the six joints of the manipulator.

• Returns: a list of encoder (list)

5 Servo Control

5.1 set_servo_data(servo_no, data_id, value)

• Function: 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
• Return Value: None

5.2 get_servo_data(servo_no, data_id)

• Function: 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

5.3 set_servo_calibration(servo_no)

• Function: 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.
• Return Value: None

5.4 focus_servo(servo_id)

• Function: power on designated servo
• Parameters: servo_id: 1 ~ 6 or 1~4
• Return Value: None

6 Atom IO Control

6.1 set_pin_mode(pin_no, pin_mode)

• Function: 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

• Return Value: None

6.2 set_digital_output(pin_no, pin_signal)

• Function: set digital state of a pin

• Parameters

  • pin_no (int):
  • pin_signal (int): 0 / 1

• Return Value: None

6.3 get_digital_input(self, pin_no)

• Function: get digital state of a pin
• Parameters: pin_no (int)
• Return Value: signal value

7 Gripper Control

7.1 is_gripper_moving()

• Function: judge whether the gripper is moving or not

• Return Value:

  • 0 : not moving
  • 1 : is moving
  • -1: error data

7.2 set_gripper_state(flag, speed)

• Function: set gripper switch state

• Parameter:

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

• Return Value: None

7.3 get_gripper_value()

• Function: get gripper value

• Return Value: gripper value

7.4 set_gripper_ini()

• Function: set the current position to zero, set current position value is 2048
• Return Value: None

7.5 set_gripper_value(value, speed)

• Function: set gripper value

• Parameters

  • value (int): 0 ~ 100
  • speed (int): 0 ~ 100
• Return Value: None

7.6 set_gservo_round(angle)

• Function： Drive the 9g steering gear clockwise for one revolution.

• Parameters

  • angle (int) 0 - 255. 0 : stop 255 : Keep turning 1 ~ 254: Based on 30° (1->30°, 2->60°)

8 Basic IO Control

8.1 get_basic_input(pin_no)

• Function: get bottom pin
• Parameters:
• pin_no (int) Pin number.
• Return Value:
  • 0: in working state
  • 1: not in working state

8.2 set_basic_output(pin_no, pin_signal)

• Function: set bottom pin

• Parameters:

  • pin_no (int) Pin number
  • pin_signal (int): 0 / 1

9 Socket Control

The robotic arm needs to open the server, the server file is here.

# for mycobot,mecharm
from pymycobot import MyCobotSocket

mc = MyCobotSocket("192.168.1.10", 9000)

print(mc.get_angles())

10 TCPIP

10.1 set_ssid_pwd(account, password)

• Function: change connected wifi (apply to m5 or seeed)

• Parameters

  • account (str) : new wifi account.
  • password (str): new wifi password.

• Return Value: None

10.2 get_ssid_pwd()

• Function: get connected wifi account and password (apply to M5 or seed)

• Return Value: present WIFI account and password

10.3 set_server_port(port)

• Function: change the connection port of the server

• Parameters

  • port (int): the new connection port of the server

• Return Value: None

11 utils (Module)

Import utils before using it:

from pymycobot import utils

11.1 utils.get_port_list()

• Function: get the all serial port list

• Return Value: serial port list (list)

11.2 utils.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)

12 Raspberry PI—GPIO

Import pymycobot first:

from pymycobot import MyCobot

12.1 gpio_init()

• Function: init GPIO module, and set BCM mode
• Return Value: None

12.2 set_gpio_mode()

• Function: set pin coding method.

• Parameters

  • mode (str) "BCM" or "BOARD"
• Return Value: None

12.3 set_gpio_output(pin_no, state)

• Function: set GPIO port output value.

• Parameters:

  • pin (int): pin number
  • v (int): 0 / 1

• Return Value: None

12.4 get_gpio_in(pin_no)

• Function: get pin level status.
• Parameters:
  • pin_no (int) pin id
• Return Value:
  • 0:low
  • 1: high

More interface description