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

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_angles(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

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

9.1 connect(serialport, baudrate, timeout) (for PI version)

  • Function: connect robot via serialport and baudrate

  • Parameters:

    • serialport: /dev/ttyAMA0
    • baudrate:1000000
    • timeout: 0.1

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

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