MyAGV Plus API User Guide

Note: All APIs described below are Python APIs. Install the pymycobot Python SDK package before usage. This document is adapted from the latest source code of myagvplus and myagvplusapi.

1. System & Product Information

get_system_version()

  • Function: Get the main firmware version number
  • Return Value: float (version number)

get_modify_version()

  • Function: Get the secondary firmware version number (precision calibrated, returns the actual value directly)
  • Return Value: float (version number)

power_on()

  • Function: Power on the robot (activate relays, enable all motors, initialize to speed control mode)
  • Return Value: int (1: Success, 0: Failure)

power_off()

  • Function: Power off the robot (disable all motors and cut off relay power supply)
  • Return Value: int (1: Success, 0: Failure)

is_power_on()

  • Function: Check if the chassis relay power supply of the robot is enabled
  • Return Value: int (1: Powered on, 0: Powered off)

get_robot_status()

  • Function: Read hardware fault status information of the robot
  • Return Value: list[int] [Battery Status, Gyroscope Status, Battery Level]
    • Battery Status: 0 = Normal, 1 = Abnormal
    • Gyroscope Status: 0 = Normal, 1 = Abnormal
    • Battery Level: 0 = Normal, 1 = Warning (≤19.6V), 2 = Low Battery (<19.0V)
    • Remarks:
      • Charging state: Below 19.8V = Level 2 Low Battery; 19.8V–20.3V = Level 1 Warning; Above 20.3V = Level 0 Normal
      • Non-charging state: Below 19.2V = Level 2 Low Battery; 19.2V–19.7V = Level 1 Warning; Above 19.7V = Level 0 Normal

get_all_msg()

  • Function: Obtain all chassis status information and sensor readings in one call
  • Return Value: list
    • Index 0: (int) Battery status (0 Normal, 1 Abnormal)
    • Index 1: (int) Gyroscope status (0 Normal, 1 Abnormal)
    • Index 2: (int) Battery level (0 Normal, 1 Warning, 2 Critical Low)
    • Index 3: (str) Charging status (binary format string)
    • Index 4: (float) Primary battery voltage
    • Index 5: (float) Secondary battery voltage
    • Index 6: (list[float]) Parsed 18-byte gyroscope raw data
    • Index 7: (float) High-precision primary battery voltage (if supported)
    • Index 8: (float) High-precision secondary battery voltage (if supported)

2. Motion Control

Notes:

  1. Valid linear speed range for move commands: 0.01 ~ 1.60 m/s. Valid angular speed range for turn commands: 0.01 ~ 7.27 rad/s.
  2. Safety Interlock & Undervoltage Protection: If dual batteries drop below undervoltage threshold (<19.0V) or any motor locks up due to overload, background threads will automatically disable all motion. All subsequent motion commands will be intercepted.

move_forward(speed)

  • Function: Translate the robot forward
  • Return Value: int (1: Success, -1: Failed / Intercepted)

move_backward(speed)

  • Function: Translate the robot backward
  • Return Value: int (1: Success, -1: Failed / Intercepted)

move_left_lateral(speed)

  • Function: Translate the robot to the left
  • Return Value: int (1: Success, -1: Failed / Intercepted)

move_right_lateral(speed)

  • Function: Translate the robot to the right
  • Return Value: int (1: Success, -1: Failed / Intercepted)

turn_left(angular_speed)

  • Function: Rotate counterclockwise in place
  • Parameter: angular_speed (float): Angular velocity
  • Return Value: int (1: Success, -1: Failed / Intercepted)

turn_right(angular_speed)

  • Function: Rotate clockwise in place
  • Parameter: angular_speed (float): Angular velocity
  • Return Value: int (1: Success, -1: Failed / Intercepted)

stop()

  • Function: Halt all robot movement
  • Return Value: int (1: Success, -1: Failed / Intercepted)

set_auto_report_state(state)

  • Function: Enable/disable automatic low-level data reporting (ESP32 transmits data every 50ms)
  • Parameter: state (int): 0 = Disabled, 1 = Enabled
  • Return Value: int (1: Success, 0: Failure)

get_auto_report_state()

  • Function: Get current automatic reporting status
  • Return Value: int (0: Disabled, 1: Enabled)

get_auto_report_message()

  • Function: Passively fetch parsed data from the latest automatic report frame
  • Return Value: list (data structure matches the return value of get_all_msg)

3. Auxiliary Motor Control

set_motor_enable(motor_id, state)

  • Function: Set the enable status of a motor
  • Parameters:
    • motor_id (int): 1~4 for individual motors, 254 for all four motors
    • state (int): 0 = Disabled, 1 = Enabled
  • Return Value: int (1: Success)

get_motor_enable_status()

  • Function: Get enable status of all four motors
  • Return Value: list[int] [m1, m2, m3, m4] (0 = Disabled/Offline, 1 = Enabled/Online)

get_motor_status()

  • Function: Read hardware fault codes of each DM motor (0 indicates normal operation)
  • Return Value: list[int] [m1, m2, m3, m4]

clear_motor_error(motor_id)

  • Function: Self-recovery interface to reset fault-locked motors
  • Parameter: motor_id (int): 1~4, 254
  • Return Value: int (1: Success)

get_motor_temps()

  • Function: Get current temperature of each motor MOSFET
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_velocity(motor_id)

  • Function: Get current rotational speed of the specified motor
  • Parameter: motor_id (int): 1~4
  • Return Value: float (angular velocity in rad/s)

get_motor_torque(motor_id)

  • Function: Get real-time output torque of the specified motor
  • Parameter: motor_id (int): 1~4
  • Return Value: float (torque in N·m)

get_motor_move_speeds()

  • Function: Batch read linear travel speed of all four motors
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_turn_speeds()

  • Function: Batch read rotational speed of all four motors
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_torques()

  • Function: Batch read real-time output torque of all four motors
  • Return Value: list[float] [m1, m2, m3, m4]

4. IO Control & Communication

set_led_mode(mode)

  • Function: Switch LED operating mode
  • Parameter: mode (int): 0 = Battery indicator mode (default), 1 = Custom DIY mode
  • Return Value: int (1: Success, 0: Failure)

set_led_color(brightness, color)

  • Function: Set custom LED color (call set_led_mode(1) first)
  • Parameters:
    • brightness (int): Brightness range 0 - 255
    • color (tuple): RGB tuple (R, G, B)
  • Return Value: int (1: Success, 0: Failure)

set_fan_state(state)

  • Function: Control cooling fan power state
  • Parameter:
    • state (int): 0 = Fan off, 1 = Fan on
  • Return Value: int (1: Success, 0: Failure)

get_pin_input(pin)

  • Function: Read digital input IO pin level
  • Parameter: pin (int): Pin number 0 - 6
  • Return Value: int (Current logic level; -1 = Read failure or invalid pin)

set_pin_output(pin, state)

  • Function: Set digital output IO pin logic level
  • Parameters:
    • pin (int): 0 - 6
    • state (int): 0 = Low level, 1 = High level
  • Return Value: int (1: Success, 0: Failure)

set_communication_state(state)

  • Function: Switch underlying communication mode. When set to 1 (Socket), the physical serial port will be automatically released.
  • Parameter:
    • state (int): 0 = Serial communication (default), 1 = Socket network communication
  • Return Value: int (1: Success, -1: Failure)

get_communication_state()

  • Function: Query current active communication mode
  • Return Value: int (0 = Serial, 1 = Socket)

5. WiFi & Bluetooth

get_wifi_ip()

  • Function: Get LAN IP address of the connected WiFi network
  • Return Value: str (IP address; empty string on failure)

get_wifi_account()

  • Function: Get SSID name of the connected WiFi network
  • Return Value: str (WiFi SSID; empty string on failure)

get_bluetooth_address()

  • Function: Read MAC address of the local Bluetooth adapter
  • Return Value: str (Bluetooth MAC address; empty string on failure)

6. Usage Examples

6.1 Read MyAGV Plus System Information

from pymycobot import MyAGVPlus

# Initialize MyAGVPlus instance
agv_plus = MyAGVPlus("/dev/ttyACM0", baudrate=921600, esp32_port='/dev/ttyCH341USB0', esp32_baud=115200, debug=True)

# Fetch main firmware version
version = agv_plus.get_system_version()
print(version)

# Fetch full battery and chassis status data
print(agv_plus.get_all_msg())

6.2 AGV Motion & LED Control Demo

import time
from pymycobot import MyAGVPlus

agv_plus = MyAGVPlus("/dev/ttyACM0", baudrate=921600, esp32_port='/dev/ttyCH341USB0', esp32_baud=115200, debug=True)

# Power on robot (relay activation + motor enable process, wait 6 seconds)
agv_plus.power_on()

# Switch LED to custom DIY mode and set solid red
agv_plus.set_led_mode(1)
agv_plus.set_led_color(255, (255, 0, 0))

# Move forward at 0.5 m/s
agv_plus.move_forward(0.5)
time.sleep(3)

# Rotate counterclockwise in place
agv_plus.turn_left(0.3)
time.sleep(2)

# Stop all movement
agv_plus.stop()

# Cut robot power and disable all motors
agv_plus.power_off()

6.3 Fetch Network Info & Switch to Socket Communication Mode

from pymycobot import MyAGVPlus

agv_plus = MyAGVPlus("/dev/ttyACM0", baudrate=921600, esp32_port='/dev/ttyCH341USB0', esp32_baud=115200, debug=True)

# Get connected WiFi SSID
account = agv_plus.get_wifi_account()
print(f"SSID: {account}")

# Get WiFi LAN IP address
ip = agv_plus.get_wifi_ip()
print(f"IP: {ip}")

# Switch communication mode to Socket
set_result = agv_plus.set_communication_state(1)
if set_result == 1:
    print("Set communication mode to Socket successfully.")

6.4 Launch Socket Daemon for Seamless Remote Control

Socket mode enables zero-latency AGV control from any computer on the same local area network, ideal for secondary development.

Step 1: Launch network daemon on the AGV onboard controller (Jetson Nano / Raspberry Pi) Open terminal and execute:

python3 -m pymycobot.myagvplussocket_server # Or run standalone agv_socket_server.py

(Note: While running, the background process monitors communication status and occupies port 9000 on the physical serial port.)

Step 2: Switch communication mode via API

agv_plus.set_communication_state(1)

The underlying driver will immediately release ownership of the physical serial port! The background socket server takes over chassis communication once mode switches to 1.

Step 3: Remote control from a separate PC on the same LAN

from pymycobot.myagvplussocket import MyAGVPlusSocket
import time

# Connect to AGV LAN IP on port 9000
agv = MyAGVPlusSocket("192.168.1.132", 9000)

print(agv.get_motor_move_speeds()) # Remotely read motor speed data
agv.move_left_lateral(0.3)    # Remote lateral left movement
time.sleep(2)
agv.stop()

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