MyAGV Plus API User Guide

Note: All APIs below are Python APIs. Please install the pymycobot Python SDK package before use. This documentation is adapted based on the latest myagvplus and myagvplusapi source code.

1. System & Product Information

get_system_version()

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

get_modify_version()

  • Description: Get the sub-firmware modification version number.
  • Return Value: float (version number)

power_on()

  • Description: Power on the robot (turn on relay, enable all motors, and initialize to velocity control mode).
  • Return Value: int (1: Success, 0: Failure)

power_off()

  • Description: Power off the robot (disable all motors and turn off relay power).
  • Return Value: int (1: Success, 0: Failure)

is_power_on()

  • Description: Check whether the robot chassis relay power is turned on.
  • Return Value: int (1: Power ON, 0: Power OFF)

get_robot_status()

  • Description: Read robot hardware status and error information.
  • Return Value: list[int] [battery_status, gyro_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)
    • Note: While charging: <19.8v 1="" 2="" is="" level="" (low="" battery),="" 19.8v–20.3v="" (warning),="">20.3V is Level 0 (Normal).
    • Note: While discharging: <19.2v 1="" 2="" is="" level="" (low="" battery),="" 19.2v–19.7v="" (warning),="">19.7V is Level 0 (Normal).

get_all_msg()

  • Description: Retrieve all chassis status information and sensor readings in a single call.
  • Return Value: list
    • 0: (int) Battery status (0: Normal, 1: Abnormal)
    • 1: (int) Gyroscope status (0: Normal, 1: Abnormal)
    • 2: (int) Battery level (0: Normal, 1: Warning, 2: Low Battery)
    • 3: (str) Charging status (binary string format)
    • 4: (float) Main battery voltage
    • 5: (float) Sub-battery voltage
    • 6: (list[float]) Parsed 18-byte gyroscope raw data
    • 7: (float) High-precision main battery voltage (if supported)
    • 8: (float) High-precision sub-battery voltage (if supported)

2. Motion Control

Note:

  1. move speed range: 0.01 ~ 1.60 m/s; turn angular speed range: 0.01 ~ 7.27 rad/s.
  2. Safety Interlock & Undervoltage Protection: If dual-battery undervoltage (<19.0V) or motor stall/overload occurs, the background thread automatically locks all motion, and subsequent movement commands will be intercepted.

move_forward(speed)

  • Description: Translate the robot forward.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

move_backward(speed)

  • Description: Translate the robot backward.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

move_left_lateral(speed)

  • Description: Translate the robot laterally to the left.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

move_right_lateral(speed)

  • Description: Translate the robot laterally to the right.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

turn_left(angular_speed)

  • Description: Rotate in place counter-clockwise (turn left).
  • Parameters: angular_speed (float): Angular velocity in rad/s.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

turn_right(angular_speed)

  • Description: Rotate in place clockwise (turn right).
  • Parameters: angular_speed (float): Angular velocity in rad/s.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

stop()

  • Description: Stop all motion immediately.
  • Return Value: int (1: Success, -1: Failure / Intercepted)

set_auto_report_state(state)

  • Description: Set ESP32 background auto-reporting switch state (ESP32 reports data every 50ms).
  • Parameters: state (int): 0-Disable, 1-Enable
  • Return Value: int (1: Success, 0: Failure)

get_auto_report_state()

  • Description: Get active ESP32 auto-report state.
  • Return Value: int (0: Disabled, 1: Active)

get_auto_report_message()

  • Description: Passively retrieve the latest captured automatic reporting data packet.
  • Return Value: list (same data structure as get_all_msg)

3. Motor Auxiliary Control

set_motor_enable(motor_id, state)

  • Description: Enable or disable target wheel motor torque.
  • Parameters:
    • motor_id (int): 1~4 for individual motor ID, 254 for all motors.
    • state (int): 0-Disable, 1-Enable
  • Return Value: int (1: Success)

get_motor_enable_status()

  • Description: Read enable state of all wheel motors.
  • Return Value: list[int] [m1, m2, m3, m4] (0-Disabled/Offline, 1-Enabled/Online)

get_motor_status()

  • Description: Read hardware error status codes of all DM wheel motors (0 means normal).
  • Return Value: list[int] [m1, m2, m3, m4]

clear_motor_error(motor_id)

  • Description: Clear motor error code and self-heal by resetting and re-enabling target motor.
  • Parameters: motor_id (int): 1~4 or 254
  • Return Value: int (1: Success)

get_motor_temps()

  • Description: Read temperature sensors on wheel motor MOS controllers.
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_velocity(motor_id)

  • Description: Read real-time angular velocity of target motor.
  • Parameters: motor_id (int): 1~4
  • Return Value: float (angular speed in rad/s)

get_motor_torque(motor_id)

  • Description: Read real-time output torque of target motor.
  • Parameters: motor_id (int): 1~4
  • Return Value: float (torque in N·m)

get_motor_move_speeds()

  • Description: Read real-time linear speed translation of all 4 wheels.
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_turn_speeds()

  • Description: Read real-time angular speed translation of all 4 wheels.
  • Return Value: list[float] [m1, m2, m3, m4]

get_motor_torques()

  • Description: Read feedback output torque values of all 4 motors.
  • Return Value: list[float] [m1, m2, m3, m4]

4. IO Control & Communication

set_led_mode(mode)

  • Description: Set active LED display mode.
  • Parameters: mode (int): 0-Battery level mode (default), 1-DIY mode
  • Return Value: int (1: Success, 0: Failure)

set_led_color(brightness, color)

  • Description: Set DIY LED strip brightness and RGB color (requires calling set_led_mode(1) first).
  • Parameters:
    • brightness (int): Brightness 0 ~ 255
    • color (tuple): RGB tuple (R, G, B)
  • Return Value: int (1: Success, 0: Failure)

set_fan_state(state)

  • Description: Turn internal chassis cooling fans on or off.
  • Parameters:
    • state (int): 0 - Fan Off, 1 - Fan On
  • Return Value: int (1: Success, 0: Failure)

set_pump_state(state)

  • Description: Set suction pump state (Command 0x43).
  • Parameters:
    • state (int): 0 - Close suction pump, 1 - Open suction pump
  • Return Value: int (1: Success, -1: Failure)

set_pump_io(pin, state)

  • Description: Set suction pump control IO pin voltage level (Command 0x44).
  • Parameters:
    • pin (int): Pin index (2 or 5)
    • state (int): 0 - Low level (Pump Working/Open), 1 - High level (Pump Closed)
  • Return Value: int (1: Success, -1: Failure)

get_pin_input(pin)

  • Description: Read voltage input levels from target IO pin ports.
  • Parameters: pin (int): Pin index 0 ~ 6 (0 reads all input pins)
  • Return Value: int (Current level state; -1 for read failure or invalid pin)

set_pin_output(pin, state)

  • Description: Write voltage output levels to target IO pin ports.
  • Parameters:
    • pin (int): 0 ~ 6
    • state (int): 0 - Low level, 1 - High level
  • Return Value: int (1: Success, 0: Failure)

set_communication_state(state)

  • Description: Toggle robot communication protocol channel state. When switched to 1 (Socket), physical serial ports are safely released.
  • Parameters:
    • state (int): 0-Serial Communication (default), 1-Socket Communication
  • Return Value: int (1: Success, -1: Failure)

get_communication_state()

  • Description: Get active communication protocol channel mode.
  • Return Value: int (0: Serial, 1: Socket)

5. WiFi & Bluetooth

get_wifi_ip()

  • Description: Get robot network adapter active local IP.
  • Return Value: str (IP address string, returns empty string on failure)

get_wifi_account()

  • Description: Get connected router SSID account name.
  • Return Value: str (SSID string, returns empty string on failure)

get_bluetooth_address()

  • Description: Read adapter Bluetooth MAC address.
  • Return Value: str (Bluetooth MAC address string, returns empty string on failure)

6. Usage Examples

6.1 Get AGVPlus 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)

# Get main firmware version number
version = agv_plus.get_system_version()
print(f"System Version: {version}")

# Get all battery and chassis status messages
print(agv_plus.get_all_msg())

6.2 Motion Control & LED Settings

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 (includes relay powering on and motor enabling, takes approx 6s)
agv_plus.power_on()

# Switch LED to DIY mode and set color to Red
agv_plus.set_led_mode(1)
agv_plus.set_led_color(255, (255, 0, 0))

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

# Turn left in place
agv_plus.turn_left(0.3)
time.sleep(2)

# Stop all motion
agv_plus.stop()

# Power off robot relay and disable motors
agv_plus.power_off()

6.3 Get Network Info & Switch Communication Mode to Socket

from pymycobot import MyAGVPlus

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

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

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

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

6.4 Start & Control Remotely via Socket Daemon

Socket mode allows controlling the AGV with zero latency from any PC connected to the same LAN.

Step 1: Start the network daemon process on the AGV board (Jetson Nano / Raspberry Pi) Open a terminal on the AGV and run:

python3 -m pymycobot.myagvplussocket_server # or run specific agv_socket_server.py

(Note: While the daemon is running, it automatically detects the communication state and manages port 9000.)

Step 2: Switch communication state in code

agv_plus.set_communication_state(1)

The SDK immediately releases physical serial ports! The background socket server detects mode 1 and takes over chassis control.

Step 3: Control remotely from another PC on the network

from pymycobot.myagvplussocket import MyAGVPlusSocket
import time

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

print(agv.get_motor_move_speeds()) # Read speed info remotely
agv.move_left_lateral(0.3)         # Control left lateral move remotely
time.sleep(2)
agv.stop()

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