Introduction to API

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

from pymycobot.mycobot import MyCobot

Notice: Functions with return value are required to use print() to print value. For example, if you want to get the speed value, type print(get_speed()), instead of get_speed().

myCobot

1 Overall Status

1.1 power_on()

  • Function: Atom open communication (default open)

  • Return Value: None

1.2 power_off()

  • Function: Atom turn off communication

  • Return Value: None

1.3 is_power_on()

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

  • Return Value:

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

1.4 release_all_servos

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

1.5 is_controller_connected

  • Function: check if connected with Atom.

  • Return Value:

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

1.6 read_next_error()

  • Fuction: Robot Error Detection.

  • Return Value

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

1.7 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

1.8 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 Operating Mode

2.1pause()

  • Function: pause motion
  • Return Value: None

2.2 stop()

  • Function: stop motion
  • Return Value: None

2.3 resume()

  • Function: resume motion
  • Return Value: None

2.4 is_paused()

  • Function: judge whether motion pauses or not
  • Return Value:
    • 1: pause
    • 0: not pause
    • -1: error

2.5 get_speed()

  • Function: get motion speed
  • Return Value: range from 0-100

2.6 set_speed()

  • Function: set motion speed

  • Parameter: range from 0-100

  • Return Value: None

2.7 get_joint_min_angle(joint_id)

  • Function: get minimum speed of a joint
  • Parameter: range from 1-6 or 1-4
  • Return Value: angle value

2.8 get_joint_max_angle(joint_id)

  • Function: get maximum speed of a joint
  • Parameter: range from 1-6 or 1-4
  • Return Value: angle value

2.9 is_servo_enable(servo id)

  • Function: judge whether a servo is enabled
  • Parameter: range from 1-6 or 1-4
  • Return Value:
    • 1: enabled
    • 0: not enabled
    • -1: error

2.10 is_all_servo_enable()

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

2.11 release_servo(servo_id)

  • Function: release a servo
  • Parameter: range from 1-6 or 1-4
  • Return Value:
    • 1: enabled
    • 0: not enabled
    • -1: error

2.12 get_tof_distance()

  • Function: get tested distance
  • Return Value: distance value

2.13 get_error_information()

  • Function: get error message.
  • Return Value:
    • 0: no error message.
    • 1 ~ 6: The corresponding joint exceeds the limit.
    • 16 ~ 19: collision protection.
    • 32: Kinematics inverse solution has no solution.
    • 33 ~ 34: Linear motion has no adjacent solution.

2.14 clear_error_information()

  • Function: clear error message

2.15 set_joint_min(id,angle)

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

  • Parameters:

    • id: (int)
      • for mycobot / mecharm: int 1-6.
      • for mypalletizer: int 1-4.
      • for myArm: int 1 - 7.
    • angle: 0 - 180.
  • Return Value: None

2.16 set_joint_max(id,angle)

  • Function: Sets the maximum angle of the specified joint.
  • Parameter:
    • id: (int) joint id
      • for mycobot / mecharm: int 1-6.
      • for mypalletizer: int 1-4.
      • for myArm: int 1 - 7.
    • angle: 0 - 180
  • Return Value: None

2.17 get_basic_version()

  • Function: Get basic firmware version.
  • Return Value:
    • version (float)

2.18 set_communicate_mode(mode)

  • Function: Set basic communication mode.
  • Parameter:
    • mode (int) 0 - Turn off transparent transmission. 1 - Open transparent transmission
  • Return Value: None

3 MDI Mode

Notice: Different types of manipulators have different limits, and the angle and coordinate limits that can be set are also different. Refer to the parameter introduction section.

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
##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_angle(Angle.J2.value, 10, 50)

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 or 4.

    • speed: (int) 0 ~ 100

##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_angles([0,0,0,0,0,0], 80)

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
##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_coord(Coord.X.value, -40, 70)

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
##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)

3.7 get_encoders()

  • Function: get encoders of all joint
  • Parameter: a list of encoder values, at the length of 4 or 6

3.8 get_encoder(joint_id)

  • Function: get encoders of a joint
  • Parameter: joint ID, ranging from 1-4 or 1-6

3.9 get_radians()

  • Function: get the radians of all joints
  • Returns: A float list of radian

3.10 send_radians(radians, speed)

  • Function: send the radians of all joint to robot arm.
  • Parameter:
    • radians: a list of radian value(List[float]), length 6 or 4.
    • speed: (int) 0 ~ 100
##Example:

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle

mycobot = MyCobot('/dev/ttyUSB0')
mycobot.send_radian([1,1,1,1,1,1], 70)

3.11 sync_send_angles(degrees, speed, timeout=7)

  • Description: send the angle in synchronous state and return when the target point is reached

  • Parameters:

    • degrees: a list of degree value(List[float]), length 6.
    • speed: (int) 0 ~ 100
    • timeout: default 7s.

3.12 sync_send_coords(coords, speed, mode, timeout=7)

  • Function: send the coord in synchronous state and return when the target point is reached

  • Parameters:

    • coords: a list of coords value(List[float])
    • speed: (int) 0 ~ 100
    • mode: (int): 0 - angular, 1 - linear
    • timeout: default 7s.

3.13 is_in_position(data, flag)

  • Function: judge whether in the position.

  • Parameters:

    • data: A data list, angles or coords, length 6 or 4.
    • flag: Tag the data type, 0 - angles, 1 - coords.

  • Return Value:

    • 1 - true
    • 0 - false
    • -1 - error

3.14 is_moving()

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

3.15 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

3.16 get_radians()

  • Function: get radians of all arms
  • Return Value: a list of radian values

3.17 send_radians(radians, speed)

  • Function: send radians and speed to all arms
  • Parameters:
    • radians: radians values of arms
    • speed: speed of arms

3.18 set_encoders_drag(encoders,speeds)

  • Function: Send all encoders and speeds
  • Parameters:
    • encoders (list) : encoders list.
    • speeds: Obtained by the get_servo_speeds() method
  • Return Value: None

3.19 get_solution_angles()

  • Function: Get zero space deflection angle value.(This interface is only applicable to MyArm)
  • Return Value: angles

3.20 set_solution_angles(angle,speed)

  • Function: Set zero space deflection angle value.(This interface is only applicable to MyArm)

  • Parameters:

    • angle: Angle of joint 1.
    • speed: 1 - 100.

  • Return Value: None

3.21 set_transponder_mode(mode)

  • Function: Set serial port transmission mode.(This interface is only applicable to MyArm)

  • Parameters:

    • mode:
      • 0: Turn off transparent transmission
      • 1: Turn on transparent transmission, verify all data
      • 2: Turn on transparent transmission, only verify communication forwarding mode configuration information

  • Return Value: None

3.22 get_transponder_mode()

  • Function: Obtain the configuration information of serial transmission mode.(This interface is only applicable to MyArm)

  • Return Value:

    • 0: Turn off transparent transmission
    • 1: Turn on transparent transmission, verify all data
    • 2: Turn on transparent transmission, only verify communication forwarding mode configuration information (default is 0)

4 JOG Mode

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

4.3jog_stop()

  • Function: stop jog moving
  • Return Value: None

4.4 pause()

  • Function: Pause motion
  • Return Value: None

4.5 resume()

  • Function: recovery motion
  • Return Value: None

4.6 stop()

  • Function: stop motion
  • Return Value: None

4.7 is_paused()

  • Function: judge whether the manipulator pauses or not
  • Returns :
    • 1 - paused
    • 0 - not paused
    • -1 - error

4.8 set_encoder(joint_id, encoder)

  • Function: set a single joint rotation to the specified potential value.

  • Parameters:

    • joint_id: (int) 1 ~ 6 or 1~4
    • encoder: 0 ~ 4096

4.9 get_encoder(joint_id)

  • Function: obtain the specified joint potential value.
  • Parameters: joint_id: (int) 1 ~ 6 or 1~4
  • Returns:
    • encoder: 0 ~ 4096

4.10 set_encoders(encoders, sp)

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

  • Parameters:

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

4.11 get_encoders()

  • Function: get the six joints of the manipulator.

  • Returns: a list of encoder (list)

4.12 jog_absolute(joint_id,angle,spedd)

  • Function: Jog absolute angle.
  • Parameters:
    • joint_id: (int)
      • for mycobot / mecharm: int 1-6.
      • for mypalletizer: int 1-4.
      • for myArm: int 1 - 7.
    • direction:
    • speed: 0 ~ 100
  • Returns: None

4.13 jog_increment(joint_id,angle,speed)

  • Function: Setp mode.
  • Parameters:
    • coord_id: (int)
      • for mycobot / mecharm: int 1-6.
      • for mypalletizer: int 1-4.
      • for myArm: int 1 - 7.
    • direction:
    • speed: 0 ~ 100
  • Returns: None

5 Servo Control

5.1 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

5.2 focus_servo(servo_id)

  • Function: power on designated servo
  • Parameters: servo_id: 1 ~ 6 or 1~4
  • Return Value: None

5.3 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: 1~7
  • Return Value: None

5.4 get_servo_speeds()

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

5.5 get_servo_currents()

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

5.6 get_servo_voltages()

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

5.7 get_servo_temps()

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

5.8 get_servo_status()

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

6 Atom IO Control

6.1 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

6.2 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

6.3 get_digital_input(self, pin_no)

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

6.4 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

7 Gripper Control

7.2 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 clamping jaw wants to reach, the value range is 0~100
    • 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 jaws
      • 4: Flexible gripper
  • Return value: None

7.3 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 jaws
      • 4: Flexible gripper
  • Return value: Gripper data information

7.4 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 clamping jaw is closed, 0 means the clamping jaw 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 jaws
      • 4: Flexible gripper
  • Return value: None

7.6 set_eletric_gripper(status)

  • Function: Set gripper mode (only for 350)
  • Parameter description: status: 1 means the clamping jaw is closed, 0 means the clamping jaw is open.
  • Return value: None

7.7 set_gripper_mode(status)

  • Function: Set gripper mode
  • Parameter description:
    • status: 1 transparent transmission mode, 0 I/O mode
  • Return value: None

7.8 get_gripper_mode()

  • Function: Get gripper status
  • Return value: status(int): 0 - Transparent transmission mode 1 - I/O mode

7.12 init_gripper()

  • Function: Initialize gripper
  • Return value: 0 - initialization failed; 1 - initialization successful

8 Basic IO Control

8.1 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

8.2 set_basic_output(pin_no, pin_signal)

  • Function: set bottom pin

  • Parameters:

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

9 Socket Control

The robotic arm needs to open the server, the server file is here.

# for mycobot,mecharm
from pymycobot import MyCobotSocket

mc = MyCobotSocket("192.168.1.10", 9000)

print(mc.get_angles())

10 TCPIP

10.1 set_ssid_pwd(account, password)

  • Function: change connected wifi (apply to m5 or seeed)

  • Parameters

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

  • Return Value: None

10.2 get_ssid_pwd()

  • Function: get connected wifi account and password (apply to M5 or seed)

  • Return Value: present WIFI account and password

10.3 set_server_port(port)

  • Function: change the connection port of the server

  • Parameters

    • port (int): the new connection port of the server

  • Return Value: None

11 utils (Module)

Import utils before using it:

from pymycobot import utils

11.1 utils.get_port_list()

  • Function: get the all serial port list

  • Return Value: serial port list (list)

11.2 utils.detect_port_of_basic()

  • Description: Returns the serial port string of the first detected M5 Basic. If it is not found, it returns None.

  • Return: detected port (str) or `None

##Example:

from pymycobot import MyCobot, utils
port = utils.detect_port_of_basic()
if port is None:
    raise Exception('Detection failed.')
mycobot = MyCobot(port, 115200)

12 Raspberry PI—GPIO

Import pymycobot first:

from pymycobot import MyCobot

12.1 gpio_init()

  • Function: init GPIO module, and set BCM mode
  • Return Value: None

12.2 set_gpio_mode()

  • Function: set pin coding method.

  • Parameters

    • mode (str) "BCM" or "BOARD"
  • Return Value: None

12.3 set_gpio_output(pin_no, state)

  • Function: set GPIO port output value.

  • Parameters:

    • pin (int): pin number
    • v (int): 0 / 1

  • Return Value: None

12.4 get_gpio_in(pin_no)

  • Function: get pin level status.
  • Parameters:
    • pin_no (int) pin id
  • Return Value:
    • 0:low
    • 1: high

12.5 gpio_output(pin,v)

  • Function: Set GPIO port output value.
  • Parameters:
    • pin (int) Pin number.
    • v (int): 0 / 1
  • Return Value: None

12.6 set_gpio_out(pin_no, mode)

  • Function: Set the pin as input or output.

  • Parameters:

    • pin_no (int) pin id.
    • mode (str) "in" or "out"

  • Return Value: None

13 Coordinate Transformation

13.1 set_tool_reference(coords)

  • Function: Set tool coordinate system.

  • Parameters:

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

  • Return:None

13.2 set_world_reference(coords)

  • Function: Set world coordinate system.

  • Parameters:

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

13.3 get_world_reference()

  • Function: Get world coordinate system.

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

13.4 set_reference_frame(rftype)

  • Function: Set base coordinate system.

  • Parameters:

    • rftype: 0 - base 1 - tool.

  • Return:None

13.5 get_reference_frame()

  • Function: Get base coordinate system.

  • Return: 0 - base 1 - tool.

13.6 set_movement_type(move_type)

  • Function: Set movement type.

  • Parameters:

    • move_type: 1 - movel, 0 - moveJ.

  • Return:None

13.7 get_movement_type()

  • Function: Get movement type.

  • Return: 1 - movel, 0 - moveJ.

13.8 set_end_type(end)

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

13.9 get_end_type()

  • Function: Get end coordinate system.

  • Return: 0 - flange, 1 - tool.

14 Speed Planning

14.1 get_plan_speed()

  • Function: Get planning speed.

  • Return: [ movel planning speed, movej planning speed].

14.2 get_plan_acceleration()

  • Function: Get planning acceleration.

  • Return: [ movel planning acceleration, movej planning acceleration].

More interface description

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