Control Robot Movement

Through the movement control API provided by MyAGVPlus, you can conveniently control the omnidirectional Mecanum wheel chassis to translate, move backward, and rotate in place.

1 API Description

Translation-based movement commands require a speed parameter, and its valid range is 0.01 to 1.60 (m/s). For safety reasons, if the speed setting goes out of bounds, the system will trigger a warning and automatically intercept the command at the underlying layer. The parameter for in-place rotation commands is angular_speed.

Common movement APIs are as follows:

• move_forward(speed): Control the robot to translate forward
• move_backward(speed): Control the robot to translate backward
• move_left_lateral(speed): Control the robot to translate laterally to the left
• move_right_lateral(speed): Control the robot to translate laterally to the right
• turn_left(angular_speed): Control the robot to rotate left in place (counterclockwise)
• turn_right(angular_speed): Control the robot to rotate right in place (clockwise)
• stop(): Emergency brake to stop all movements; the underlying layer will instantly issue a 0-speed command

Safety Notice: An automatic protection process runs in the system's background. If severe undervoltage (<19.0V) or motor overcurrent stall occurs, the system will automatically ignore new speed commands and lock the motors. Please promptly check the error logs for BACKGROUND VOLTAGE DETECTED! or STALL DETECTED!.

2 Simple Demo

Create a new Python file named control_move.py and enter the following code:

from pymycobot.myagvplus import MyAGVPlus
import time

# Initialize the MyAGVPlus object
agv = MyAGVPlus('/dev/myagvplus_controller', baudrate=921600, esp32_port='/dev/ttyACM0', esp32_baud=115200, debug=True)

# Power on the robot (turns on the relay and enables motors, wait about 6 seconds for motors to fully start)
agv.power_on()

speed = 0.5         # Set uniform translation speed to 0.5 m/s
angular_speed = 0.5 # Set rotation angular speed to 0.5 rad/s

print("Translating forward...")
agv.move_forward(speed)
time.sleep(2)
agv.stop()
time.sleep(1)

print("Rotating left in place...")
agv.turn_left(angular_speed)
time.sleep(2)
agv.stop()
time.sleep(1)

print("Translating laterally to the right...")
agv.move_right_lateral(speed)
time.sleep(2)
agv.stop()

# After running, safely turn off the robot power and disable motors
agv.power_off()

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