7.2.2 API Usage

The UNO Q Python examples use the same high-level pymycobot API as the normal myCobot 280 Python workflow. The key difference is the initialization method.

UNO Q Initialization

from pymycobot import MyCobot280

mc = MyCobot280(unoq_bridge=True)

Notes:

• unoq_bridge=True enables UNO Q Bridge communication.
• A serial port such as COM3 or /dev/ttyUSB0 is not required in this mode.
• The firmware must provide XferBridgeMsg.
• Run only one control script at a time.

Common API Groups

To keep the GitBook PDF output readable, this page lists common APIs by function group instead of using a wide table. For the full API reference, see 6.2.2 API description.

Status Reading

• get_system_version(): read the robot firmware version.
• get_angles(): read the current 6 joint angles.
• get_coords(): read the current end-effector coordinates.

Joint Motion

• send_angle(id, degree, speed): move one joint to a target angle.
• send_angles(angles, speed): move multiple joints to target angles.
• go_home(): return the robot to the zero or home position.

Coordinate Motion

• send_coord(id, coord, speed): move one coordinate axis.
• send_coords(coords, speed, mode): move to a full pose.

Jog Control

• jog_angle(joint_id, direction, speed): jog by joint.
• jog_coord(coord_id, direction, speed): jog by coordinate axis.
• stop(): stop the current motion.

State Control

• pause(): pause the current motion.
• resume(): resume motion.
• power_on(): power on or enable communication.
• release_all_servos(): release all servos.

Note: after releasing servos, the robot may lose holding force. Hold the robot first and make sure it is in a safe posture.

RGB and IO

• set_color(r, g, b): control the Atom RGB light.
• set_digital_output(pin_no, pin_signal): set end digital output.
• set_basic_output(pin_no, pin_signal): set base IO output.

Gripper

• set_gripper_state(flag, speed): open or close the gripper.
• set_gripper_value(gripper_value, speed): move the gripper to a target value.
• get_gripper_value(): read the current gripper value.

UNO Q Notes

Do not copy the serial-port initialization code from Chapter 6 directly into UNO Q Python scripts. For local Python on UNO Q, initialize the object as follows:

mc = MyCobot280(unoq_bridge=True)

After calling a motion API, the robot needs time to reach the target. Simple examples can use time.sleep(); stricter programs can use is_in_position() with a timeout to avoid waiting forever.

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