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.

7.1.1-1

7.1.1-1

mechArm 270

Basic IO

get_basic_input(pin_no)

  • Function: to obtain the working state of the bottom pin number
  • Parameters: pin_no: represents the specific pin number at the bottom of the robot.
  • Return Value: pin_signal(int) When the returned value is 0, it means running in the working state; when it is 1, it means the stop state.

set_basic_output(pin_no, pin_signal)

  • Function: to set the working state of the bottom pin number.
  • Parameters:
  • pin_no (int). Only the numerical part of the numbers marked at the bottom of the equipment is taken.
  • pin_signal (int ): Inputting 0 means setting to the running state, which inputting 1 means setting to the stop state
  • Return Value: 1

get_tof_distance()

  • Function: to obtain a detected distance (An external distance detector is required).
  • Return value: The detected distance value (in mm).

Atom IO

set_pin_mode(pin_no, pin_mode)

  • Function: to set the state mode of the specified pin in the atom.
  • Parameters:
    • pin_no (int): represents the specific pin number on the top of the robot.
    • pin_mode (int): limited to 0-2
      • 0 means setting it to the running state;
      • 1 means setting it to the stop state;
      • 2 means setting to the pull-up mode.
  • Return Value: 1

set_digital_output(pin_no, pin_signa)

  • Function: to set the working state of the end pin number.
  • Parameters:
    • pin_no (int). Only the numerical part of the number marked at the end of the equipment is taken.
    • pin_signal(int). Inputting 0 means setting to the running state, while inputting 1 means setting to the stop state.
  • Return Value: 1

get_digital_input(self, pin_no)

  • Function: to obtain the working state of the end pin number.
  • Parameters: pin_no: represents 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 the working state; when it is 1, it means the stop state.

Raspberry Pi——GPIO

For Raspberry Pi version, use the following API.

Type the code at the beginning:

from pymycobot import MechArm270
import RPi.GPIO as GPIO

gpio_init()

  • Function: Initialize GPIO module, set BCM mode.
  • Return value: None

set_gpio_mode

  • Function: Set 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, low.
  • Parameter:
    • 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 the pin level status.
  • Parameter Description:
    • pin_no( int) pin number.
  • Return Value: 0 is low level 1 is high level

Simple Demo

270-M5 version:

from pymycobot.mecharm import MechArm270

import time
# Enter the above code to import the packages required by the project

# MechArm270 class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyUSB0"
#          or "/dev/ttyACM0"
#       windows: "COM3"
#   The second is the baud rate:: 
#       M5 version is:  115200
#
#    Example:
#       MechArm270-M5:
#           linux:
#              mc = MechArm270("/dev/ttyUSB0", 115200)
#          or mc = MechArm270("/dev/ttyACM0", 115200)
#           windows:
#              mc = MechArm270("COM3", 115200)
#       MechArm270-raspi:
#           mc = MechArm270("/dev/ttyAMA0", 1000000)
#
# Initialize a MechArm270 object
# Create object code here for windows version
mc = MechArm270("COM3", 115200)

for count in range(5):
# set a loop
    mc.set_basic_output(2,0)
    # Let the basic2 position enter the working state
    mc.set_basic_output(5,0)
    # Let the basic5 position enter the working state
    time.sleep(2)
    #等待两秒
    mc.set_basic_output(2,1)
    #Let the basic2 position stop working
    mc.set_basic_output(5,1)
    #Let the basic5 position stop working

270-Pi version:

from pymycobot.mecharm import MechArm270
import RPi.GPIO as GPIO
import time
#Enter the above code to import the packages required by the project

# MechArm270 class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyUSB0"
#          or "/dev/ttyACM0"
#       windows: "COM3"
#   The second is the baud rate:: 
#       M5 version is:  115200
#
#    Example:
#       MechArm270-M5:
#           linux:
#              mc = MechArm270("/dev/ttyUSB0", 115200)
#          or mc = MechArm270("/dev/ttyACM0", 115200)
#           windows:
#              mc = MechArm270("COM3", 115200)
#       mycobot-raspi:
#           mc = MechArm270("/dev/ttyAMA0", 1000000)
#
# Initialize a MechArm270 object
# Create object code here for Raspberry Pi version
mc = MechArm270("/dev/ttyAMA0", 1000000)

# initialization
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)
# open suction pump
GPIO.output(20, 0)
GPIO.output(21, 0)
# wait 2 seconds
time.sleep(2)
# Turn off the suction pump
GPIO.output(20, 1)
GPIO.output(21, 1)

myCobot

Basic IO

get_basic_input(pin_no)

  • Function: to obtain the working state of the bottom pin number
  • Parameters: pin_no: represents the specific pin number at the bottom of the robot.
  • Return Value: pin_signal(int) When the returned value is 0, it means running in the working state; when it is 1, it means the stop state.

set_basic_output(pin_no, pin_signal)

  • Function: to set the working state of the bottom pin number.
  • Parameters:
  • pin_no (int). Only the numerical part of the numbers marked at the bottom of the equipment is taken.
  • pin_signal (int ): Inputting 0 means setting to the running state, which inputting 1 means setting to the stop state
  • Return Value: None

get_tof_distance()

  • Function: to obtain a detected distance (An external distance detector is required).
  • Return value: The detected distance value (in mm).

Atom IO

set_pin_mode(pin_no, pin_mode)

  • Function: to set the state mode of the specified pin in the atom.
  • Parameters:
    • pin_no (int): represents the specific pin number on the top of the robot.
    • pin_mode (int): limited to 0-2
      • 0 means setting it to the input state;
      • 1 means setting it to the output state;
      • 2 means setting to the pull-up mode.
  • Return Value: None

set_digital_output(pin_no, pin_signa)

  • Function: to set the working state of the end pin number.
  • Parameters:
    • pin_no (int). Only the numerical part of the number marked at the end of the equipment is taken.
    • pin_signal(int). Inputting 0 means setting to the running state, while inputting 1 means setting to the stop state.
  • Return Value: None

get_digital_input(self, pin_no)

  • Function: to obtain the working state of the end pin number.
  • Parameters: pin_no: represents 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 the working state; when it is 1, it means the stop state.

Raspberry Pi——GPIO

For Raspberry Pi version, use the following API.

Type the code at the beginning:

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

gpio_init()

  • Function: Initialize GPIO module, set BCM mode.
  • Return value: None

set_gpio_mode

  • Function: Set 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, low.
  • Parameter:
    • 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 the pin level status.
  • Parameter Description:
    • pin_no( int) pin number.
  • Return Value: 0 is low level 1 is high level

Simple Demo

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 refer to these two variables to initialize MyCobot
import time
# Enter the above code to import the packages required by the project

# MyCobot class initialization requires two parameters:
#   The first is the serial port string, such as:
#       linux:  "/dev/ttyUSB0"
#          or "/dev/ttyAMA0"
#       windows: "COM3"
#   The second is the baud rate:: 
#       M5 version is:  115200
#
#    Example:
#       mycobot-M5:
#           linux:
#              mc = MyCobot("/dev/ttyUSB0", 115200)
#          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)

for count in range(5):
# set a loop
    mc.set_basic_output(2,0)
    # Let the basic2 position enter the working state
    mc.set_basic_output(5,0)
    # Let the basic5 position enter the working state
    time.sleep(2)
    #等待两秒
    mc.set_basic_output(2,1)
    #Let the basic2 position stop working
    mc.set_basic_output(5,1)
    #Let the basic5 position stop working

280-Pi version:

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

# 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 Raspberry Pi version
mc = MyCobot(PI_PORT, PI_BAUD)

# initialization
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)
# open suction pump
GPIO.output(20, 0)
GPIO.output(21, 0)
# wait 2 seconds
time.sleep(2)
# Turn off the suction pump
GPIO.output(20, 1)
GPIO.output(21, 1)

myBuddy

Atom IO

set_pin_mode(id, pin_no, pin_mode)

  • Function Set the state mode of the specified pin in atom.

  • Parameters

    • id – 1/2 (L/R)

    • pin_no (int) – pin number (1 - 5).

    • pin_mode (int) – 0 - input, 1 - output

set_digital_output(id, pin_no, pin_signal)

  • Function Set atom IO output level

  • Parameters

    • id – 1/2 (L/R)

    • pin_no (int) – 1 - 5

    • pin_signal (int) – 0 / 1

get_digital_input(id, pin_no)

  • Function singal value

  • Parameters

    • id – 1/2 (L/R)

    • pin_no (int) – 1 - 5

set_pwm_output(id, channel, frequency, pin_val)

  • Function PWM control

  • Parameters

    • id – 1/2 (L/R)

    • channel (int) – IO number (1 - 5).

    • frequency (int) – clock frequency (0/1: 0 - 1Mhz 1 - 10Mhz)

    • pin_val (int) – Duty cycle 0 ~ 100: 0 ~ 100%

Raspberry Pi IO

set_gpio_input(pin)

  • Function Set GPIO input value.

  • Parameters

    pin – (int)pin number.

set_gpio_mode(pin_no, mode)

  • Function Init GPIO module, and set BCM mode.

  • Parameters

    • pin_no – (int)pin number.

    • mode – 0 - input 1 - output

set_gpio_output(pin, v)

  • Function Set GPIO output value.

  • Parameters

    • pin – (int)pin number.

    • v – (int) 0 / 1

set_gpio_pwm(pin, baud, dc)

  • Function Set GPIO PWM value.

  • Parameters

    • pin – (int)pin number.

    • baud – (int) 10 - 1000000

    • dc – (int) 0 - 100

Simple Demo

from pymycobot import MyBuddy
import time
mc = MyBuddy("/dev/ttyACM0")

# 设置树莓派IO 20为输出模式
mc.set_gpio_mode(20， 1)

mc.set_gpio_output(20, 1)
time.sleep(2)
mc.set_gpio_output(20, 0)

myPalletizer 260

Simple Demo

  • 260-M5 version:
from pymycobot.mypalletizer260 import MyPalletizer260
import time
#Enter the above code to import the packages required by the project

# initiate MyPalletizer260, M5 version
mc = MyPalletizer260("COM3", 115200)

for count in range(5):
# set a loop
    mc.set_basic_output(2,0)
    # Let the basic2 position enter the working state
    mc.set_basic_output(5,0)
    # Let the basic5 position enter the working state
    time.sleep(2)
    #等待两秒
    mc.set_basic_output(2,1)
    #Let the basic2 position stop working
    mc.set_basic_output(5,1)
    #Let the basic5 position stop working
  • 260-PI version:
from pymycobot.mypalletizer260 import MyPalletizer260
import time
#Enter the above code to import the packages required by the project

# initiate MyPalletizer260, PI version
mc = MyPalletizer260("/dev/ttyAMA0", 1000000)

# initialization
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)
# open suction pump
GPIO.output(20, 0)
GPIO.output(21, 0)
# wait 2 seconds
time.sleep(2)
# Turn off the suction pump
GPIO.output(20, 1)
GPIO.output(21, 1)

MyArm

Simple Demo

from pymycobot.myarm import MyArm
import time
#Enter the above code to import the packages required by the project

# Initialize a MyArm object
mc = MyArm("/dev/ttyAMA0", 115200)

# initialization
GPIO.setmode(GPIO.BCM)
GPIO.setup(20, GPIO.OUT)
GPIO.setup(21, GPIO.OUT)
# open suction pump
GPIO.output(20, 0)
GPIO.output(21, 0)
# wait 2 seconds
time.sleep(2)
# Turn off the suction pump
GPIO.output(20, 1)
GPIO.output(21, 1)

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