Videos and Codes for Display
Videos given below are for reference.
Notice: The baud rates are different depending on the type of device. Before using them, refer to the information related thereto. The serial port number can be viewed through calculator device manager or a serial helper.
1 Controlling RGB Light Panel
from pymycobot.mycobot import MyCobot
import time
# The above needs to be written at the beginning of the code, which means importing the project package
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
i = 7
# loop 7 times
while i > 0:
mc.set_color(0, 0, 255) # blue light on
time.sleep(2) # wait for 2 seconds
mc.set_color(255, 0, 0) # red light on
time.sleep(2) # wait for 2 seconds
mc.set_color(0, 255, 0) # green light on
time.sleep(2) # wait for 2 seconds
i -= 1
2 Controlling Arms to Move Them to Starting Point
from pymycobot.mycobot import MyCobot
#The above needs to be written at the beginning of the code, which means importing the project package
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
# Check whether the program can be burned into the robot arm
if mc.is_controller_connected() != 1:
print("Please connect the robot arm correctly for program writing")
exit(0)
# Fine-tune the robotic arm to ensure that all the bayonets are aligned in the adjusted position
# Subject to the alignment of the mechanical arm bayonet, this is only a case
mc.send_angles([0, 0, 0, 0, 0, 0], 30)
3 Single-Joint Motion
from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle
import time
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
# Robotic arm recovery
mc.send_angles([0, 0, 0, 0, 0, 0], 40)
time.sleep(3)
# Control joint 3 to move 70°
mc.send_angle(Angle.J3.value, 70, 40)
time.sleep(3)
# Control joint 4 movement -70°
mc.send_angle(Angle.J4.value, -70, 40)
time.sleep(3)
# Control joint 1 to move 90°
mc.send_angle(Angle.J1.value, 90, 40)
time.sleep(3)
# Control joint 5 movement -90°
mc.send_angle(Angle.J5.value, -90, 40)
time.sleep(3)
# Control joint 5 to move 90°
mc.send_angle(Angle.J5.value, 90, 40)
time.sleep(3)
4 Multi-Joint Motion
import time
from pymycobot import MyCobot
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
# Robotic arm recovery
mc.send_angles([0, 0, 0, 0, 0, 0], 50)
time.sleep(2.5)
# Control different angles of rotation of multiple joints
mc.send_angles([90, 45, -90, 90, -90, 90], 50)
time.sleep(2.5)
# Return the robotic arm to zero
mc.send_angles([0, 0, 0, 0, 0, 0], 50)
time.sleep(2.5)
# Control different angles of rotation of multiple joints
mc.send_angles([-90, -45, 90, -90, 90, -90], 50)
time.sleep(2.5)
5 Coordinate control
from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord
import time
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
# Get the coordinates and posture of the current head
coords = mc.get_coords()
print(coords)
# Send angular motion to a certain attitude for coordinate control, with a speed of 50
mc.send_angles([0, 0, -90, 0, 90, 0], 50)
time.sleep(2.5)
# Intelligent planning of the route, allowing the head to reach the coordinates of [-2.3, -153.2, 400.8] in a linear manner, and maintain the posture of [-120.0, 0.7, 179.73], with a speed of 40mm/s
mc.send_coords([-2.3, -153.2, 400.8, -120.0, 0.7, 179.73], 40, 1)
# Set the waiting time to 1.5 seconds
time.sleep(1.5)
# Intelligent planning of the route, allowing the head to reach the coordinates of [0.0, -120.4, 500.3] in a linear manner, and maintain the posture of [-70.81, -22.17, -163.49], with a speed of 50mm/s
mc.send_coords([0.0, -120.4, 500.3, -70.81, -22.17, -163.49], 50, 1)
# Set the waiting time to 1.5 seconds
time.sleep(1.5)
# Only change the x-coordinate of the head, setting the x-coordinate of the head to 100. Let it intelligently plan the route to move the head to the changed position at a speed of 70mm/s
mc.send_coord(Coord.X.value, 100, 70)
6 Controlling Gripper
from pymycobot.mycobot import MyCobot
import time
# MyCobot class initialization requires two parameters:
# The first is the serial port string:"/dev/ttyAMA0"
# The second is the baud rate: 115200
#
# Example:
# mc = MyCobot("/dev/ttyAMA0", 115200)
#
# Initialize a MyCobot object
mc = MyCobot("/dev/ttyAMA0", 115200)
# make it move to zero position
mc.send_angles([0, 0, 0, 0, 0, 0], 40)
time.sleep(3)
# Pro adaptive gripper needs to be set to transparent transmission mode before use
mc.set_gripper_mode(0)
time.sleep(1.5)
num = 5
while num > 0:
# Set the state of the gripper to quickly open the gripper at a speed of 70, Parameter 1 represents pro adaptive gripper type
mc.set_gripper_state(0, 70, 1)
time.sleep(3)
# Set the state of the gripper to quickly close the gripper at a speed of 70, Parameter 1 represents pro adaptive gripper type
mc.set_gripper_state(1, 70, 1)
time.sleep(3)
num -= 1
num = 3
while num > 0:
# Set the gripper value to 0 and the speed to 70, Parameter 1 represents pro adaptive gripper type
mc.set_gripper_value(0, 70, 1)
time.sleep(3)
# Set the gripper value to 50 and the speed to 70, Parameter 1 represents pro adaptive gripper type
mc.set_gripper_value(50, 70, 1)
time.sleep(3)
# Set the gripper value to 0 and the speed to 70, Parameter 1 represents pro adaptive gripper type
mc.set_gripper_value(0, 70, 1)
time.sleep(3)
num -= 1
# Get the value of the gripper
print("gripper value:", mc.get_gripper_value())