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 Status

1.1 get_system_version()

  • Function: get the version of firmware
  • Parameters: None
  • Return value: None

2. Overall Status

2.1 power_on()

  • Function: atom open communication (default open)

  • Return Value: None

2.2 power_off()

  • Function: atom turn off communication

  • Return Value: None

2.3 is_power_on()

  • Function: judge whether robot arms is powered on or not

  • Return Value:

    • 1: power on
    • 0: power off
    • -1: error

2.4 release_all_servos()

  • Function: release all robot arms
  • Return Value: None

2.5 is_controller_connected()

  • Function: check if connected with Atom.

  • Return Value:

    • 1: connected
    • 0: not connected
    • -1: error

2.6 read_next_error()

  • Fuction: robot Error detection

  • Return Value:

    • 0: No abnormality
    • 1: Communication disconnected
    • 2: Unstable communication
    • 3 : Servo abnormality

2.7 set_fresh_mode(mode)

  • Fuction: set command refresh mode
  • Parameters:
    • mode – int
      1 - Always execute the latest command first.
      0 - Execute instructions sequentially in the form of a queue.
  • Return Value: None

2.8 get_fresh_mode()

  • Fuction: get command refresh mode

  • Return Value:

    • 1 - Always execute the latest command first.
    • 0 - Execute instructions sequentially in the form of a queue.

2.9 set_free_mode(mode)

  • Fuction: set free mode
  • Parameters:
    • mode – int
      1 - close free mode
      0 - open free mode
  • Return Value: None

2.10 is_free_mode()

  • Fuction: check whether it is in free movement mode

  • Return Value:

    • 1 - close
    • 0 - open

3. MDI Mode and Operation

3.1 get_angles()

  • Function: get the degree of all joints
  • Returns: a float list of all degree

3.2 send_angle(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

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
    • speed: (int) 0 ~ 100

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

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

3.7 is_in_position(data, flag)

  • Function: judge whether in the position.
  • Parameters:
    • data: A data list, angles or coords, length 6.
    • flag: Tag the data type, 0 - angles, 1 - coords.
  • Return Value:
    • 1 - true
    • 0 - false
    • -1 - error

3.8 is_moving()

  • Function: judge whether the robot is moving
  • Return Value:
    • 1 moving
    • 0 not moving
    • -1 error

3.9 pause()

  • Function: pause robot movement.
  • Returns: None.

3.10 is_paused()

  • Function: detect if the bot is paused
  • Returns:
    • 1 - paused
    • 0 - not paused
    • -1 - error

3.11 resume()

  • Function: resume the robot movement and complete the previous command
  • Returns: a float list of all degree

3.12 stop()

  • Function: stop all movements of robot
  • Returns: None

3.13 get_joint_min_angle(joint_id)

  • Function: get minimum speed of a joint
  • Parameter: range from 1-6
  • Return Value: angle value

3.14 get_joint_max_angle(joint_id)

  • Function: get maximum speed of a joint
  • Parameter: range from 1-6
  • Return Value: angle value

3.15 set_joint_min(id,angle)

  • Function: Sets the minimum angle for the specified joint.

  • Parameters:

    • id: (int) 1-6.
    • angle: 0 - 180.
  • Return Value: None

3.16 set_joint_max(id,angle)

  • Function: Sets the maximum angle of the specified joint.
  • Parameter:
    • id: (int) 1-6.
    • angle: 0 - 180
  • Return Value: None

4. JOG Mode and Operation

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

4.3 jog_increment(joint_id,increment,speed)

  • Function: step mode
  • Parameters:
    • coord_id: (int) 1-6
    • direction:
    • speed: 0 ~ 100
  • Returns: None

5. Motor Control

5.1 set_encoder(joint_id, encoder)

  • Function: set a single joint rotation to the specified potential value
  • Parameters:
    • joint_id: (int) 1 ~ 6
    • encoder: 0 ~ 4096

5.2 get_encoder(joint_id)

  • Function: obtain the specified joint potential value
  • Parameters: joint_id: (int) 1 ~ 6
  • Returns:
    • encoder: 0 ~ 4096

5.3 set_encoders(encoders, speed)

  • Function: set the six joints of the manipulator to execute synchronously to the specified position

  • Parameters:

    • encoders: a encoder list, length 6.
    • speed: 0 - 100

5.4 get_encoders()

  • Function: get the six joints of the manipulator

  • Returns: a list of encoder (list)

6. Servo Control

6.1 is_servo_enable(servo id)

  • Function: judge whether a servo is enabled
  • Parameter: range from 1-6
  • Return Value:
    • 1: enabled
    • 0: not enabled
    • -1: error

6.2 is_all_servo_enable()

  • Function: judge whether all servos are enabled
  • Return Value:
    • 1: enabled
    • 0: not enabled
    • -1: error

6.3 release_servo(servo_id)

  • Function: release a servo
  • Parameter: range from 1-6
  • Return Value:
    • 1: enabled
    • 0: not enabled
    • -1: error

6.4 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

6.5 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

6.6 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

6.7 focus_servo(servo_id)

  • Function: power on designated servo
  • Parameters: servo_id: 1 ~ 6
  • Return Value: None

6.8 joint_brake(joint_id)

  • Function: make it stop when the joint is in motion, and the buffer distance is positively related to the existing speed
  • Parameters: joint_id: 1~6
  • Return Value: None

6.9 get_servo_speeds()

  • Function: Get joint velocity.
  • Return Value: list Speed of each joint.

6.10 get_servo_currents()

  • Function: Get joint current.
  • Return Value: list Current of each joint.

6.11 get_servo_voltages()

  • Function: Get joint voltage.
  • Return Value: list Voltage of each joint.

6.12 get_servo_temps()

  • Function: Get the temperature of each joint.
  • Return Value: list the temperature of each joint.

6.13 get_servo_status()

  • Function: power on designated servo
  • Return Value: list the state of each joint.

6.14 get_servo_last_pdi(id)

  • Function: Obtain the pdi of a single steering gear before modification
  • Return Value: the pdi of the joint.

7. Atom IO

7.1 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

7.2 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

7.3 get_digital_input(self, pin_no)

  • Function: get digital state of a pin
  • Parameters: pin_no (int)
  • Return Value: signal value

7.4 set_pwm_output(channel, frequency, pin_val)

  • Function: PWM control.
  • Parameters:
    • channel (int): IO number.
    • frequency (int): clock frequency
    • pin_val (int): Duty cycle 0 ~ 256; 128 means 50%
  • Return Value: None

8. Gripper Control

8.1 set_eletric_gripper(mode)

  • Function: set the gripper to open and close
  • Parameters:
    • 1: close
    • 0: open
  • Return Value: None

8.2 init_eletric_gripper()

  • Function: initialize the electric gripper
  • Return Value: None

8.3 set_gripper_mode(mode)

  • Function: set the mode of gripper
  • Parameters:
    • 1: port mode
    • 0: transparent transmission
  • Return Value: None

8.4 get_gripper_mode(mode)

  • Function: set the mode of gripper
  • Return Value:
    • 1: port mode
    • 0: transparent transmission

8.5 is_gripper_moving()

  • Function: judge whether the gripper is moving or not

  • Return Value:

    • 0 : not moving
    • 1 : is moving
    • -1: error data

8.6 set_gripper_value(value, speed, gripper_type=None)

  • Function: Let the gripper rotate to the specified position at the specified speed
  • Parameter Description:
    • value: Indicates the position that the gripper wants to reach, the value range is 0~256
    • speed: indicates the speed at which to rotate, the value range is 0~100
    • gripper_type: Gripper type, the default is adaptive gripper
      • 1: Adaptive gripper
      • 3: Parallel gripper
      • 4: Flexible gripper
  • Return value: None

8.7 get_gripper_value(gripper_type=None)

  • Function: Get the current position data information of the gripper
  • Parameter Description:
    • gripper_type: Gripper type, the default is adaptive gripper
      • 1: Adaptive gripper
      • 3: Parallel gripper
      • 4: Flexible gripper
  • Return value: Gripper data information

8.8 set_gripper_calibration()

  • Function: Set the initial position of the gripper and set the current position to 2048
  • Return value: None

8.9 set_gripper_state(flag, speed, _type=None)

  • Function: Let the gripper enter the specified state at the specified speed
  • Parameter Description:
    • flag: 1 means the gripper is closed, 0 means the gripper is open.
    • speed: Indicates how fast to reach the specified state, the value range is 0~100
    • _type: Gripper type, the default is adaptive gripper
      • 1: Adaptive gripper
      • 2: Five-fingered dexterity
      • 3: Parallel gripper
      • 4: Flexible gripper
  • Return value: None

9. Atom RGB Control

9.1 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

10. Coordinate Setting

10.1 set_tool_reference(coords)

  • Function: Set tool coordinate system.

  • Parameters:

    • coords: (list) [x, y, z, rx, ry, rz].

  • Return:None

10.2 set_world_reference(coords)

  • Function: Set world coordinate system.

  • Parameters:

    • coords: (list) [x, y, z, rx, ry, rz].
  • Return:None

10.3 get_world_reference()

  • Function: Get world coordinate system.

  • Return: list [x, y, z, rx, ry, rz].

10.4 set_reference_frame(rftype)

  • Function: Set base coordinate system.

  • Parameters:

    • rftype: 0 - base 1 - tool.

  • Return:None

10.5 get_reference_frame()

  • Function: Get base coordinate system.

  • Return: 0 - base 1 - tool.

10.6 set_movement_type(move_type)

  • Function: Set movement type.

  • Parameters:

    • move_type: 1 - movel, 0 - moveJ.

  • Return:None

10.7 get_movement_type()

  • Function: Get movement type.

  • Return: 1 - movel, 0 - moveJ.

10.8 set_end_type(end)

  • Function: Set end coordinate system.
  • Parameters:
    • end: 0 - flange, 1 - tool.
  • Return:None

10.9 get_end_type()

  • Function: Get end coordinate system.

  • Return: 0 - flange, 1 - tool.

10.10 get_tool_reference()

  • Function: get tool coordinate system

  • Return:

    • coords: (list) [x, y, z, rx, ry, rz]

11. Basic IO Control

11.1 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

11.2 set_basic_output(pin_no, pin_signal)

  • Function: set bottom pin

  • Parameters:

    • pin_no (int) Pin number
    • pin_signal (int): 0 / 1

12. TCP/IP

12.1 get_ssid_pwd(pin_no)

  • Function: get connected wifi account and password.(Apply to m5)
  • Return Value: (account, password)

12.2 set_ssid_pwd(account, password)

  • Function: change connected wifi.(Apply to m5)

  • Parameters:

    • account (str): new wifi account.
    • password (str): new wifi password.

← Previous Page | Next Page →

results matching ""

    No results matching ""