# Coordinate Control

It is mainly used to make intelligent route planning to move the robot arms from one position to another specified position. The coordinate is `[x, y, z, rx, ry, rz]`. `[x,y,z]` represents the position of the robot arm head in space (the coordinate system is cartesian coordinate system). `[rx,ry,rz]` represents the posture of such head at this point (the coordinate system is euler coordinates). The above simple explaination helps you to use functions better.

Note: When setting the coordinates, different series of manipulators have different joint structures. For the same set of coordinates, different series of manipulators will show different postures.

## mechArm

### Single-Parameter Coordinate

send_coord(id,coord,speed)

• Function: to send a single coordinate value to the robot arm to make it move.
• Parameter:
• `id`: represents the coordinates of the robotic arm. Six axis means that the robot arm has six joints, and four-axis means it has four joints. and there are specific representation methods therefor. The way to represent X coordinate:`Coord.X.value`. There is also a simple representation method. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.
• `coord`: Input the coordinate value you want.
• `speed`: means the movement speed of the robot arm, ranging from 0 to 100.
• Return Value: None

### Multiple parameter coordinates

get_coords()

• Function: to obtain the current coordinate and posture.
• Return Value: `list`: a list containing coordinates and postures.
• Six axes: The length is 6, and they are `[x, y, z, rx, ry, rz]` in order.
• Four axes: The length is 6, and they are `[x, y, z, rx]` in order.

send_coords(coords, speed, mode)

• Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
• Parameters:
• `coords`:
• Six axes: The length of the coordinate value of ```[x, y, z, rx, ry, rz]``` is 6.
• Four axes: The length of the coordinate value of `[x,y,z,rx]` is 4.
• `speed`: means the movement speed of the robot arm, ranging from 0 to 100.
• `mode`: (`int` ): The value is limited to 0 and 1.
• 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
• 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
• Return Value: None

set_tool_reference(coords)

• Function： Set Tool coordinate system。
• Parameters：
• `coords`: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
• Return Value： None

get_tool_reference()

• Function： Get Tool coordinate system。
• Return Value： Returns a coordinate list with a length of 6

get_world_reference()

• Function： Get World coordinate system。
• Return Value： Returns a coordinate list with a length of 6

set_world_reference(coords)

• Function： Set World coordinate system。
• Parameters：
• `coords`: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
• Return Value： None

set_reference_frame(rftype)

• Function： Set Base coordinate system。
• Parameters：
• `rftype`: 0 - Base coordinate system(default)，1 - World coordinate system
• Return Value： None

get_reference_frame()

• Function： Get Base coordinate system。
• Return Value： 0 - Base coordinate system，1 - World coordinate system，-1 - error

set_end_type(end)

• Function： Set end coordinate system。
• Parameters：
• `end`: 0 - flange(default)，1 - tool
• Return Value： None

get_end_type()

• Function： Get end coordinate system
• Return Value： 0 - flange(default)，1 - tool, -1 - error

### Simple Demo

``````from pymycobot.mecharm import MechArm
from pymycobot.genre import Coord
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of MechArm, you can refer to these two variables to initialize MechArm
import time

# MechArm class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyAMA0"
#          or "/dev/ttyAMA0"
#       windows: "COM3"
#   The second is the baud rate::
#       M5 version is:  115200
#
#    Example:
#       MechArm-M5:
#           linux:
#              mc = MechArm("/dev/ttyAMA0", 1000000)
#          or mc = MechArm("/dev/ttyAMA0", 115200)
#           windows:
#              mc = MechArm("COM3", 115200)
#       MechArm-raspi:
#           mc = MechArm(PI_PORT, PI_BAUD)
#
# Initialize a MechArm object
# Create object code here for windows version
mc = MechArm("COM3", 115200)

# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)

# Intelligently plan the route, let the head reach the coordinates of [152, -9.5, 220.8] in a linear manner, and maintain the attitude of [143.29, 2, 88], the speed is 80mm/s
mc.send_coords([152, -9.5, 220.8, 143.29, 2, 88], 80)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [124, -9.5, 232] in a linear way, and maintain the attitude of [ 143.29, 2, 88], the speed is 80mm/s
mc.send_coords([124, -9.5, 232, 143.29, 2, 88], 80)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(Coord.X.value, -40, 70)
``````

## myCobot

### Single-Parameter Coordinate

send_coord(id,coord,speed)

• Function: to send a single coordinate value to the robot arm to make it move.
• Parameter:
• `id`: represents the coordinates of the robotic arm. Six axis means that the robot arm has six joints, and four-axis means it has four joints. and there are specific representation methods therefor. The way to represent X coordinate:`Coord.X.value`. There is also a simple representation method. For example, you can fill in 1 for X-axis, 2 for Y-axis, and so on.
• `coord`: Input the coordinate value you want.
• `speed`: means the movement speed of the robot arm, ranging from 0 to 100.
• Return Value: None

### Multiple parameter coordinates

get_coords()

• Function: to obtain the current coordinate and posture.
• Return Value: `list`: a list containing coordinates and postures.
• Six axes: The length is 6, and they are `[x, y, z, rx, ry, rz]` in order.
• Four axes: The length is 6, and they are `[x, y, z, rx]` in order.

send_coords(coords, speed, mode)

• Function: to send the overall coordinates and postures to move the robot arm head from the original point to the point you have specified.
• Parameters:
• `coords`:
• Six axes: The length of the coordinate value of ```[x, y, z, rx, ry, rz]``` is 6.
• Four axes: The length of the coordinate value of `[x,y,z,rx]` is 4.
• `speed`: means the movement speed of the robot arm, ranging from 0 to 100.
• `mode`: (`int` ): The value is limited to 0 and 1.
• 0 means that the movement path of the robot arm head is non-linear, i.e. the movement route is randomly planned just to make sure that the head moves to a specified point with a specified posture.
• 1 means that the movement path of the robot arm head is linear, i.e. the movement route is intelligently planned just to make sure that the head moves to a specified point with a specified posture in a linear manner.
• Return Value: None

set_tool_reference(coords)

• Function： Set Tool coordinate system。
• Parameters：
• `coords`: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
• Return Value： None

get_tool_reference()

• Function： Get Tool coordinate system。
• Return Value： Returns a coordinate list with a length of 6

get_world_reference()

• Function： Get World coordinate system。
• Return Value： Returns a coordinate list with a length of 6

set_world_reference(coords)

• Function： Set World coordinate system。
• Parameters：
• `coords`: The coordinate value of [x, y, z, rx, ry, rz] has a length of 6, x, y, z ranging from - 280 to 280, and rx, ry, yz ranging from - 314 to 314
• Return Value： None

set_reference_frame(rftype)

• Function： Set Base coordinate system。
• Parameters：
• `rftype`: 0 - Base coordinate system(default)，1 - World coordinate system
• Return Value： None

get_reference_frame()

• Function： Get Base coordinate system。
• Return Value： 0 - Base coordinate system，1 - World coordinate system，-1 - error

set_end_type(end)

• Function： Set end coordinate system。
• Parameters：
• `end`: 0 - flange(default)，1 - tool
• Return Value： None

get_end_type()

• Function： Get end coordinate system
• Return Value： 0 - flange(default)，1 - tool, -1 - error

### Simple Demo

``````  from pymycobot.mycobot import MyCobot
from pymycobot.genre import Coord
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, you can refer to these two variables to initialize MyCobot
import time

# MyCobot class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyAMA0"
#          or "/dev/ttyAMA0"
#       windows: "COM3"
#   The second is the baud rate::
#       M5 version is:  115200
#
#    Example:
#       mycobot-M5:
#           linux:
#              mc = MyCobot("/dev/ttyAMA0", 1000000)
#          or mc = MyCobot("/dev/ttyAMA0", 115200)
#           windows:
#              mc = MyCobot("COM3", 115200)
#       mycobot-raspi:
#           mc = MyCobot(PI_PORT, PI_BAUD)
#
# Initialize a MyCobot object
# Create object code here for windows version
mc = MyCobot("COM3", 115200)

# Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)

# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s
mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s
mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)

# Set the wait time to 1.5 seconds
time.sleep(1.5)

# To change only the x-coordinate of the head, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(Coord.X.value, -40, 70)
``````

## myBuddy

### One-parameter coordinates

send_coord(id, coord, data, speed)

• Function Send a single coordinate to the robotic arm

• Parameters

• id – 1/2/3 (L/R/W).

• coord – 1 ~ 6 (x/y/z/rx/ry/rz)

• data – Coordinate value

• speed – 0 ~ 100

get_coord(id, joint_id)

• Function Read a single coordinate parameter

• Parameters

• id (int) – 1/2/3 (L/R/W).

• joint_id (int) – 1 - 7 (7 is gripper)

### Multiparameter Coordinates

send_coords(id, coords, speed, mode)

• Function Send all coords to robot arm.

• Parameters

• id – 1/2 (L/R).

• coords – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]

• speed – (int) 0 ~ 100

• mode – (int) 0 - moveJ, 1 - moveL, 2 - moveC

### Simple Demo

``````from pymycobot.mybuddy import MyBuddy
import time
mc = MyBuddy("/dev/ttyACM0", 115200)

# Get the coordinates and posture of the current head of the left arm
coords = mc.get_coords(1)
print(coords)

# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], and the speed is 80mm/s
mc.send_coords(1, [57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80, 1)

time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9] in a linear manner, and maintain the attitude of [165.52, -75.41, -73.52], with a speed of 80mm/s
mc.send_coords(1, [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 1)

time.sleep(1.5)

# To change only the x-coordinate of the head of the left arm, set the x-coordinate of the head to -40. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s
mc.send_coord(1, 1, -40, 70)
``````

## myPalletizer

### Simple Demo

``````  from pymycobot.mypalletizer import MyPalletizer
from pymycobot.genre import Coord
import time
# import the project package

# Initiate a MyPalletizer object
mc = MyPalletizer("COM3", 115200)

# # Get the current coordinates and pose of the head
coords = mc.get_coords()
print(coords)

#Plan the route at random, let the head reach the coordinates of [57.0, -107.4, 316.3] in an non-linear manner at the speed is 80mm/s
mc.send_coords([187.8, 42.1, 183.3, -159.6], 80, 0)
# wait for 2 seconds
time.sleep(2)

# Plan the route at random, let the head reach the coordinates of [207.9, 47, 49.3,-159.69] in an non-linear manner at the speed is 80mm/s
mc.send_coords([207.9, 47, 49.3,-159.69], 80, 0)
# wait for 2 seconds
time.sleep(2)

#To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route at random and move the head to the changed position at a speed of 70mm/s
mc.send_coord(Coord.X.value, 20, 50)
``````

```python

# Create object code here for windows version

mc = MyArm("/dev/ttyAMA0", 115200)

# Get the current coordinates and pose of the head

coords = mc.get_coords() print(coords)

# Intelligently plan the route, let the head reach the coordinates of [57.0, -107.4, 316.3, -93.81, -12.71, -163.49] in a linear manner, and maintain the attitude of [-93.81, -12.71, -163.49], the speed is 80mm/s

mc.send_coords([57.0, -107.4, 316.3, -93.81, -12.71, -163.49], 80,0)

time.sleep(1.5)

# Intelligently plan the route, let the head reach the coordinates of [-13.7, -107.5, 223.9, 165.52, -75.41, -73.52] in a linear way, and maintain the attitude of [165.52, -75.41, -73.52], the speed is 80mm/s

mc.send_coords([-13.7, -107.5, 223.9, 165.52, -75.41, -73.52], 80, 0)

time.sleep(1.5)

# To change only the x-coordinate of the head, set the x-coordinate of the head to 20. Let it plan the route intelligently and move the head to the changed position, with a speed of 70mm/s

mc.send_coord(Coord.X.value, 20, 70)