Introduction to API

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

1. System & Product Information

get_system_version():

• function: Obtain the major firmware version number
• Return value:
  • float: version

get_modify_version():

• function: Obtain the minor firmware version number
• Return value:
  • int: version

power_on():

• function: Turn on the robot
• Return value:
  • int: Power-on result, 1: Success, 0: Failed

power_on_only():

• function: Turn on the robot, but not start the control program
• Return value:
  • int: Power-on result only, 1: Success, 0: Failed

power_off():

• function: Turn off the robot
• Return value:
  • int: Power-off result only, 1: Success, 0: Failed

is_power_on():

• function: Check if the robot is powered on
• Return value:
  • int: power state, 1: Power-on, 0: Power-off

2. Motion control

move_backward(speed):

• function: Pan the robot backward
• parameter:
  • speed(float): 0 ~ 1.5 m/s
• Return value:
  • int: 1: Success, 0: Failed

move_forward(speed):

• function: Pan the robot forward
• parameter:
  • speed(float): 0 ~ 1.5 m/s
• Return value:
  • int: 1: Success, 0: Failed

move_left_lateral(speed):

• function: Pan the robot left
• parameter:
  • speed(float): 0 ~ 1 m/s
• Return value:
  • int: 1: Success, 0: Failed

move_right_lateral(speed):

• function: Pan the robot right
• parameter:
  • speed(float): 0 ~ 1 m/s
• Return value:
  • int: 1: Success, 0: Failed

turn_left(speed):

• function: Rotate to the left
• parameter:
  • speed:
• Return value:
  • int: 1: Success, 0: Failed

turn_right(speed):

• function: Rotate to the right
• parameter:
  • speed:
• Return value:
  • int: 1: Success, 0: Failed

stop():

• function: Stop moving
• Return value:
  • int: 1: Success, 0: Failed

set_auto_report_state(state):

• function: Set the auto-report state
• parameter:
  • state(int): 0: Close, 1: Open
• Return value:
  • int: 1: Success, 0: Failed

get_auto_report_state():

• function: Get the auto-report state
• Return value:
  • int: 0: Close, 1: Open

get_auto_report_message():

• function: Get the auto-report message
• Return value:
  • list[int | list[int] | float]:
  • 0 - (float)rx
  • 1 - (float)ry
  • 2 - (float)rw
  • 3 - (list[int])Machine status
  • 4 - (list[int])Motor information
  • 5 - (float)Battery voltage
  • 6 - (int)Motor enable status 0: Enabled, 1: Disabled

3. Motor assisted

get_motor_enable_status():

• function: Get the motor enabled status
• Return value:
  • list[int]: Motor enabled status
  • 0: Disable
  • 1: Enable

get_motor_status():

• function: Get the motor status
• Return value:
  • list[int]: Motor status
  • 0: normal
  • any: error code

get_motor_temps():

• function: Get the motor temperature
• Return value:
  • list[float]: Motor temperature

get_motor_speeds():

• function: Get the motor speeds
• Return value:
  • list[float]: Motor speeds

get_motor_torques():

• function: Get the motor torques
• Return value:
  • list[float]: Motor torques

set_communication_state(state):

• function: Set the communication state
• parameter:
  • state(int):
  • 0: Serial communication (default)
  • 1: Socket communication
  • 2: Bluetooth communication (Write the MAC address to the file and the endpoint, and then return to the state)
• Return value:
  • int: 1: Success, 0: Failed

get_communication_state():

• function: Get the communication state
• Return value:
  • int: communication state
  • 0: Serial communication,
  • 1: Socket communication,
  • 2: Bluetooth communication

set_led_color(position, brightness, color):

• function: Set the LED color
• parameter:
  • position(int):
  • 0: Left LED
  • 1: Right LED
  • color(tuple(int, int, int)): RGB color
  • brightness(int): 0 - 255(default 255)
• Return value:
  • int: 1: Success, 0: Failed

get_motor_loss_count():

• function: Get the motor loss count
• Return value:
  • list[int]: Motor loss count

4. IO Control

get_pin_input(pin):

• function: Get the input IO
• parameter:
  • pin(int): 1 - 6
• Return value:
  • int: 0: Low, 1: High, -1: There is no such pin

set_pin_output(pin, state):

• function: Set the output IO
• parameter:
  • pin(int): 1 - 6
  • state(int): 0: Low, 1: High
• Return value:
  • int: 1: Success, 0: Failed

get_estop_state()

• function: Get the emergency stop state
• Return value:
  • int: 0: Release, 1: Press

5. WiFi & Bluetooth

get_wifi_ip_port():

• function: Get the wi-fi ip and port
• Return value:
  • tuple(str, int): wi-fi ip, wi-fi port

get_wifi_account():

• function: Get the wi-fi account
• Return value:
  • tuple(str, str): wi-fi account, wi-fi password

get_bluetooth_address():

• function: Get the bluetooth MAC address
• Return value:
  • str: bluetooth MAC address

get_bluetooth_uuid():

• function: Get the bluetooth uuid
• Return value:
  • tuple(str, str, str): bluetooth name, service uuid, characteristic uuid

6. Use Cases:

6.1 Get the system version number of AGVPro

from pymycobot import MyAGVPro

# Initialize the AGVPro object
agv_pro = MyAGVPro("/dev/ttyACM0", baudrate=1000000, debug=True)

# Obtain the system version number
version = agv_pro.get_system_version()
print(version)

6.2 Control AGVPro to move forward at a speed of 0.5ms for 3 seconds

import time
from pymycobot import MyAGVPro

# Initialize the AGVPro object
agv_pro = MyAGVPro("/dev/ttyACM0", baudrate=1000000, debug=True)

# The control AGVPro moves forward at a speed of 0.5ms
agv_pro.move_forward(0.5)

# Sleep for 3 seconds
time.sleep(3)

# Stop moving
agv_pro.stop()

← Previous Page | Next Section →