Handle control

You can use the game controller to control the movement of the machine and use the gripper or suction pump to grab objects.

Note: The handle needs to be purchased separately, please contact the official customer service for details

The corresponding functions of the handle buttons are as follows:

myCobot:

• 1: RX coordinate value increases
• 2: RX coordinate value decreases
• 3: RY coordinate value decreases
• 4: RY coordinate value increases
• 5: X coordinate value increases
• 6: X coordinate value decreases
• 7: Y coordinate value decreases
• 8: Y coordinate value increases
• 9: Z coordinate value increases
• 10: Z coordinate value decreases
• 11: RZ coordinate value decreases
• 12: RZ Coordinate value increases
• 13: Wake up the handle. If the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to continue using it.
• 14: Detect the machine connection status. The atom LED flashes green three times to indicate that the machine is normal, and flashes red three times to indicate abnormal status.
• X: Gripper cumulatively opens
• Y: Gripper cumulatively closes
• X: Turn on the suction pump
• X: Turn off the suction pump
• Left 1: Press and hold for 2s to initialize the robot to the joint zero position state.
• Left 2: Press and hold for 2s, the robot stops torque output and relaxes all joints.
• Right 1: Press and hold for 2s to initialize the robot to the initial point of movement.
• Right 2: Press and hold for 2s, the robot turns on torque output and all joints are locked.

Instructions for use

1. Connect the device

Connect MyCobot and the handle to the computer.

2. Install the required packages

Download code: https://github.com/elephantrobotics/pymycobot

Open the terminal, switch the path to the pymycobot/demo/handle_control folder, and run the following command:

pip3 install -r requirements.txt

3. Change the port number

myCobot

Edit the myCobot280_handle_control.py file

import pygame
import time
from pymycobot import MyCobot280
import threading

mc = MyCobot280("/dev/ttyTHS1", 1000000)
...

Run the program.

python3 myCobot280_handle_control.py

Note: After running the program, first click the 14 button to check the machine connection status. If the machine connection status is normal (if it is abnormal, other operations will not be possible. Please solve the abnormal connection problem first), then click the Right 1 button. After the machine reaches the initial point, other operations can be performed.