IO control

IO is the input and output of data. There are multiple pins on the Basic and Atom of our robot arm. The input and output modes can be set through the following function interface.

myCobot：

myCobot

Basic IO

get_basic_input(pin_no)

Function: Get the working status of the bottom pin number
Parameter description: pin_no: Indicates the specific pin number at the bottom of the robot
Return value: pin_signal( int) When the returned value is 0, it means it is running in the working state, and 1 means it is stopped

set_basic_output(pin_no, pin_signal)

Function: Set the working status of the bottom pin number
Parameter description:
pin_no( int) The number marked on the bottom of the device only takes the digital part
pin_signal( int): Input 0 means set to running state, input 1 means stop state
Return value: None

get_tof_distance()

Function: Get the detected distance (external distance detector is required)
Return value: Detected distance value, unit is mm

Atom IO

set_pin_mode(pin_no, pin_mode)

Function: Set the state mode of the specified pin in atom
Parameter description:
pin_no (int): The specific pin number on the top of the robot
pin_mode (int): Limited to 0~2
0 is set to running state
1 is set to stop state
2 is set to pull-up mode
Return value: None

set_digital_output(pin_no, pin_signa)

Function: Set the working state of the end pin number
Parameter description:
pin_no( int) The number marked at the end of the device only takes the digital part
pin_signal( int): Enter 0 to set it to running state, enter 1 to stop state
Return value: None

get_digital_input(self, pin_no)

Function: Get the working state of the end pin number
Parameter description: pin_no: Indicates the specific pin number at the end of the robot
Return value: pin_signal( int) When the returned value is 0, it means running in working state, and 1 means stop state

Raspberry Pi - GPIO

When your robot is a Raspberry Pi version, you can use the following API

Usage:

Enter the code import at the beginning of the file:

from pymycobot import MyCobot
from pymycobot import PI_PORT, PI_BAUD
import RPi.GPIO as GPIO

gpio_init()

Function: Initialize the GPIO module and set the BCM mode
Return value: None

set_gpio_mode

Function: Set the Raspberry Pi GPIO pin mode
Parameter
mode (str) Input: "BCM" or "BOARD" to enter the corresponding mode

set_gpio_output(pin_no, state)

Function: Set the pin to high or low level
Parameter description:
pin( int) Pin number
state: 0 is set to low level 1 is set to high level (low level of suction pump starts working, high level stops working)
Return value: None

get_gpio_in(pin_no)

Function: Get pin level status
Parameter description:
pin_no( int) Pin number
Return value: 0 is low level 1 is high level

Case use

MyCobot 280-M5 version:

from pymycobot.mycobot import MyCobot
from pymycobot import PI_PORT, PI_BAUD #When using the Raspberry Pi version of mycobot, you can reference these two variables to initialize MyCobot
import time
#Enter the above code to import the packages required for the project

# MyCobot class initialization requires two parameters:
# The first is the serial port string, such as:
# linux: "/dev/ttyUSB0"
# windows: "COM3"
# The second is the baud rate:
# M5 version: 115200
#
# For example:
# mycobot-M5:
# linux:
# mc = MyCobot("/dev/ttyUSB0", 115200)
# windows:
# mc = MyCobot("COM3", 115200)
# mycobot-raspi:
# mc = MyCobot(PI_PORT, PI_BAUD)
#
# Initialize a MyCobot object
# Below is Raspberry Pi version of the object code
mc = MyCobot("/dev/ttyAMA0", 1000000)

# Initialization
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)
# Turn on the pump
GPIO.output(20, 0)
GPIO.output(21, 0)
# Wait 2 seconds
time.sleep(2)
# Turn off the pump
GPIO.output(20, 1)
GPIO.output(21, 1)

6.1.5 IO control