UltraArm P1 API Method Details

Preparation Before Use

Before using Case Function I, please ensure the following hardware and environment are ready:

Hardware Equipment
- ultraArm P1 robotic arm
- USB-Type-C serial cable (for connecting the robotic arm to the computer)
- Power adapter
Software and Environment
- Python 3.6 or later is installed
- The ultraArm_P1_lib library is installed (installed via the terminal command pip install ultraArm_P1_lib)
- Ensure the ultraArm P1 is properly powered on and in standby mode

USB Serial Communication

[toc]

When using the following function interfaces, please import our API library at the beginning; otherwise, the code will not run successfully. Enter the following code:

from ultraArm_P1_lib import UltraArmP1

Note: If our API library is not installed, please refer to the Environment Installation document for installation instructions.

# demo
from ultraArm_P1_lib import UltraArmP1

ua = UltraArmP1("COM3",1000000)

res = ua.get_angles_info()
print(res)

ua.set_angles([0, 0, 90, 0],50)
...

1 `set_joint_release(joint_id)`

Function: Releases the joint
Parameter Description:
- joint_id(int): Joint number (1~4); 0 indicates all joints.
Return value： ok

2 `set_joint_enable(joint_id)`

Function: Locks the joint
Parameter Description:
- joint_id(int): Joint number (1~4); 0 indicates all joints.
Return value： ok

3 `get_system_version()`

Function: Reads the firmware major version number
Return Value: float, the correction version number

4 `get_modify_version()`

Function: Reads the firmware correction version number
Return Value: int, the correction version number

5 `get_angles_info()`

Function: Gets the current angle of the robotic arm.
Return Value: list is a list of floating-point values representing the angles of all joints. [J1, J2, J3, J4]

6 `set_angle(id, angle, speed, _async=True)`

Function: Sends the specified single joint to the specified angle.
Parameter Description:
- id: Represents the joint of the robotic arm, represented by numbers 1-4.
- degree: Represents the joint angle
  
  Joint Id Range
  
  1 -165 ~ 165
  
  2 -18 ~ 85
  
  3 89 ~ 200
  
  4 -179 ~ 179

Joint Id	Range
1	-165 ~ 165
2	-18 ~ 85
3	89 ~ 200
4	-179 ~ 179

</table>

speed: Represents the speed of the robotic arm's movement, ranging from 1 to 100.
_async: Motion positioning feedback, enabled by default.

Return Value: Returns "ok" in closed-loop mode, 1 in open-loop mode.

7 `set_angles(angles, speed, _async=True)`

Function: Sends all angles to all joints of the robotic arm.
Parameter Description:
- degrees: (List[float]) Contains the angles of all joints. A four-axis robot has four joints, so the length is 4, represented as [20,20,90, 20].
- speed: Represents the speed of the robotic arm, ranging from 1 to 100.
- _async: Provides feedback on movement position, enabled by default.
Return Value: Returns "ok" in closed-loop mode, 1 in open-loop mode.

8 `get_coords_info()`

Function: Gets the current coordinates of the robotic arm.
Return Value: A list of coordinates, with a length of 4, in the format [x, y, z, rx].

9 `set_coords_max_speed(coords, _async=True)`

Function: Sends coordinate motion at maximum speed.
Parameter Description:
- coords: A list of coordinates of length 4 or 3, [X, Y, Z, RX] or [X, Y, Z].
  
  Coordinate Id Range
  
  X -301.7 ~ 360.5
  
  Y -360.5 ~ 360.5
  
  Z -157 ~ 91
  
  Rx -180 ~ 180

Coordinate Id	Range
X	-301.7 ~ 360.5
Y	-360.5 ~ 360.5
Z	-157 ~ 91
Rx	-180 ~ 180

_async: Motion positioning feedback, enabled by default.

Return value: Closed-loop returns "ok", open-loop returns 1

10 `set_coords(coords, speed, _async=True)`

Function: Sends global coordinates, allowing the robotic arm head to move from its original point to a specified point.
Parameter Description:
- coords: A list of coordinates of length 4 or 3, [X, Y, Z, RX] or [X, Y, Z]
  
  Coordinate Id Range
  
  X -301.7 ~ 360.5
  
  Y -360.5 ~ 360.5
  
  Z -157 ~ 91
  
  Rx -180 ~ 180

Coordinate Id	Range
X	-301.7 ~ 360.5
Y	-360.5 ~ 360.5
Z	-157 ~ 91
Rx	-180 ~ 180

</table>

speed: Represents the speed of the robotic arm's movement, ranging from 1 to 100.
_async: Motion positioning feedback, enabled by default.

Return value: Closed-loop returns "ok", open-loop returns 1.

11`set_coord(coord_id, coord, speed, _async=True)`

Function: Sends a single axis coordinate, allowing the robotic arm head to move from its original point to a specified point.
Parameter Description:
- coord_id: (str), axis ID, 'X', 'Y', 'Z', 'R'
- coords: coordinate values
  
  coordinate ID range
  
  X -301.7 ~ 360.5
  
  Y -360.5 ~ 360.5
  
  Z -157 ~ 91
  
  Rx -180 ~ 180
- speed: Represents the speed of the robotic arm's movement, ranging from 1 to 100.
- _async: Feedback on movement completion, enabled by default.
Return value: Closed-loop returns "ok", open-loop returns 1.

coordinate ID	range
X	-301.7 ~ 360.5
Y	-360.5 ~ 360.5
Z	-157 ~ 91
Rx	-180 ~ 180

12 `stop()`

Function: Stops the robotic arm's movement.
Return value： ok

13 `set_jog_angle(joint_id, direction, speed, _async=True)`

Function: Sets the JOG angle.
Parameter description:
- joint_id: Represents the joint of the robotic arm, ranging from 1 to 4.
- direction: Primarily controls the direction of the robotic arm's movement, 1 - positive movement, 0 - negative movement.
- speed: Speed from 1 to 100.
- _async: Motion positioning feedback, enabled by default.
Return Value: Closed-loop returns "ok", open-loop returns 1

14 `set_jog_coord(axis_id, direction, speed, _async=True)`

Function: Sets the JOG coordinate motion.
Parameter Description:
- axis_id: Represents the joint coordinates of the robotic arm, ranging from 1 to 4.
- direction: Primarily controls the direction of the robotic arm's movement, 1 - positive movement, 0 - negative movement.
- speed: Speed 1 to 100.
- _async: Motion positioning feedback, enabled by default.
Return Value: Closed-loop returns "ok", open-loop returns 1

15 `jog_increment_angle(joint_id, increment, speed, _async=True)`

Function: Sets the angle step motion
Parameter Description:
- joint_id: Represents the joint of the robotic arm, range 1 ~ 4
- increment: Angle increment value.
- speed: Speed 1 ~ 100.
- _async: Motion positioning feedback, enabled by default.
Return Value: Closed-loop returns "ok", open-loop returns 1

16 `jog_increment_coord(coord_id, increment, speed, _async=True)`

Function: Sets the coordinate stepping motion.
Parameter Description:
- axis_id: Represents the joint coordinate of the robotic arm, ranging from 1 to 4.
- increment: The coordinate increment value.
- speed: Speed, ranging from 1 to 100.
- _async: Motion positioning feedback, enabled by default.
Return Value: Closed-loop returns "ok", open-loop returns 1

17 `get_error_information()`

Function: Reads error information
Return Value: Error information

18 `set_zero_calibration()`

Function: Sets zero-point calibration
Return value： ok

19 `get_zero_calibration_state()`

Function: Reads zero-point calibration status
Return Value: list [1, 1, 1, 1]

20 `get_run_status()`

Function: Read Running Status
Return Value: Running Status

21 `set_pwm_laser_mode(state)`

Function: Set pwm laser mode.
Parameters: state (int) 0 ~ 1; 0 - Off; 1 - On.
Return Value: ok - Success; 0 - Failure.

22 `set_pwm_laser(p_value)`

Function: Set the PWM level (Laser).
Parameters: p_value (int) 0 ~ 255.
Return Value: ok - Success; 0 - Failure.

23 `set_pwm_custom_mode(state)`

Function: Set pwm custom mode.
Parameters: state (int) 0 ~ 1; 0 - Off; 1 - On.
Return Value: ok - Success; 0 - Failure.

24 `set_pwm_custom(p_value)`

Function: Set the PWM level (Custom).
Parameters: p_value (int) 0 ~ 255.
Return Value: ok - Success; 0 - Failure.

25 `set_gripper_angle(gripper_angle, gripper_speed)`

Function: Sets the gripper's movement angle
Parameter Description:
- gripper_angle: int, 1 ~ 100.
- gripper_speed: 1 ~ 100
Return value： ok

26 `get_gripper_angle()`

Function: Reads the gripper angle
Return value: Gripper angle, 1 ~ 100

27 `set_gripper_parameter(addr, parameter_value)`

Function: Sets the gripper parameter
Parameter description:
- addr: int, 1 ~ 69
- parameter_value (int): 0 ~ 65535
Return value： ok

28 `get_gripper_parameter(addr)`

Function: Reads the gripper parameter
Parameter description:
- addr: int, 1 ~ 69
- mode: (int): 1 ~ 2
Return value: (int) Gripper parameter 0 ~ 65535

29 `set_gripper_enable_status(state):`

Function: Set the gripper enable state
Parameter Description:
- state: int
  - 0: Disabled
  - 1: Enabled
Return value： ok

30 `set_gripper_zero()`

Function: Sets the gripper to zero position
Return value： ok

31 `set_pump_state(pump_state)`

Function: Sets the pump status
Parameter Description:
- pump_state: int
  - 0: On
  - 1: Off
  - 2: Off
Return value： ok

32 `set_base_io_output(pin_no, pin_status, pin_signal)`

Function: Sets the base IO pin output status
Parameter Description:
- pin_no: int 1 ~ 10
- pin_status: int
  - 0: input
  - 1: output
- pin_signal: int
  - 0: Low level
  - 1: High level
Return value： ok

33 `set_digital_io_output(pin_no, pin_signal)`

Function: Sets the output state of the final I/O pin
Parameter description:
- pin_no: int 3 ~ 4
- pin_signal: int
  - 0: Low level
  - 1: High level
Return value： ok

34 `set_i2c_data(data_state, data_addr, data_len, data_value)`

Function: Sets I2C data
Parameter description:
- data_state: int 0 ~ 1
- 0: Read
- 1: Write
- data_addr: int 0 ~ 255
- data_len: int: 0 ~ 64
- data_value: int 0 ~ 255
Return value： ok

35 `play_gcode_file(filename)`

Function: Plays the imported track file.
Parameter Description:
- filename: Track file name
Return Value: None

36 `get_system_screen_version()`

Function: Reads the screen firmware major version number
Return Value: Major version number

37 `get_modify_screen_version()`

Function: Reads the screen firmware correction version number
Return Value: Correction version number

38 `set_communication_baud_rate(baud_rate)`

Function: Sets the communication baud rate
Parameter Description:
- baud_rate: int standard baud rate, 115200 or 1000000
Return value： ok

39 `receive_485_data()`

Function: Receives 485 data
Return Value: 485 data

40 `set_wifi_password(wifi_name, password)`

Function: Sets the on-screen WiFi password.
Parameter Description:
- wifi_name: (str) SSID， WiFi name.
- password: (str) WiFi password string, length 8~15 characters.
Return value： ok

41 `check_sd_card()`

Function: Checks if an SD card is present.
Return Value: (str)
- ok: SD card present
- 0: SD card not present

42 `download_firmware_sd(filename, show_progress=True)`

Function: Downloads firmware data to the SD card.
Parameter Description:
- filename: (str) The name of the firmware file, which must be a .bin file (It is recommended to use a fixed name to avoid storing too many files on the SD card.).
- show_progress: (bool) Whether to display the download progress; the default is to display it.
Return Value: If show_progress=True, the download progress is returned; otherwise, no value is returned.

43 `upgrade_restart()`

Function: Firmware upgrade and restart.
Return value： ok

44 `get_motor_enable_status()`

Function: Reads the motor enable status.
Return Value: list, 5 motor enable statuses.

45 `finish_firmware_upgrade()`

Function: Ends the download of firmware data to the SD card. (The upgrade can be terminated midway through the firmware download process.)
Return value： ok.

46 `get_base_io_state()`

Function: Get the state of the base IO pins
Return Value: list with values in the range 0-3, length is 10
- 0: Input, level = 0 (low level)
- 1: Input, level = 1 (high level)
- 2: Output, level = 0 (low level)
- 3: Output, level = 1 (high level)

47 `get_base_io_state(pin_no)`

Function: Get the state of the base IO pins
Parameter: (int) Bottom IO pin number, range: 1 to 10.
Return Value: int range 0 ~ 3
- 0: Input, level = 0 (low level)
- 1: Input, level = 1 (high level)
- 2: Output, level = 0 (low level)
- 3: Output, level = 1 (high level)

48 `get_end_io_state()`

Function: Get the state of the end IO pins
Return Value: list with values in the range 0-3, length is 4
- 0: Input, level = 0 (low level)
- 1: Input, level = 1 (high level)
- 2: Output, level = 0 (low level)
- 3: Output, level = 1 (high level)

49 `get_end_io_state(pin_no)`

Function: Get the state of the end IO pins
Parameter: (int) End IO pin number, range: 1 to 4.
Return Value: int range 0 ~ 3
- 0: Input, level = 0 (low level)
- 1: Input, level = 1 (high level)
- 2: Output, level = 0 (low level)
- 3: Output, level = 1 (high level)

50 `set_end_button_enable()`

Function: Enable the end button
Return value： ok

51 `set_end_button_disable()`

Function: Disable the end button
Return value： ok

52 `forced_reset_zero()`

Function: Set forced homing (reset to zero)
Return value： ok

53 `set_conveyor_control(state, direction, speed, distance)`

Function: Conveyor belt control
Parameter Description:
- state: (int) 0~1, conveyor state: 0 - off; 1 - on
- direction: (int) 0~1, conveyor direction: 0 - forward; 1 - backward
- speed: (int) conveyor speed, range 50~500000
- distance: (int) conveyor distance, range 1~500000
Return value： ok

54 `set_color(r, g, b)`

Function: Sets the RGB color of the light panel.
Parameter Description:
- r: (int) Red component; range: 0 ~ 255.
- g: (int) Green component; range: 0 ~ 255.
- b: (int) Blue component; range: 0 ~ 255.
Return value： ok

55 `set_preview_mode(coords)`

Function: Sets the coordinate trajectory preview mode.
Parameter Description:
- coords (list[float]): A list of coordinate values [X, Y, Z, R].
Return value： ok

56 `get_sd_card_space()`

Function: Retrieves the total and available storage space on the SD card.
Return Value: list containing the total space and available space, in bytes. Example: [Total Space, Available Space]

57 `collision_unlock()`

Function: Unlocks after collision detection.
Return Value: OK - Success; 0 - Failure.

58 `clear_error_status()`

Function: Clears the error status. If a limit has been exceeded, the joint must be manually moved back within the limit boundaries.
Return Value: OK - Success; 0 - Failure

59 `get_queue_size()`

Function: Reads the size of the buffer queue.
Return Value: int Queue size

60 `set_robot_id(robot_id)`

Function: Sets the device machine code
Parameter Description:
- robot_id: (str) Machine code ID, range 001 ~ 254, length 3
Return Value: ok

61 `get_robot_id()`

Function: Reads the device machine code
Return Value: Machine code ID, range 001 ~ 254, length 3

62 `get_wifi_ip()`

Function: Reads the WiFi IP address (only available when WiFi is connected)
Return Value: str WiFi IP address

63 `get_bluetooth_mac()`

Function: Reads the Bluetooth communication MAC address (only available when Bluetooth is enabled)
Return Value: str Bluetooth MAC address

64 `get_end_button_state()`

Function: Reads the state of the end button
Return value:
- 0: Not pressed
- 1: Pressed

65 `coord_inverse_solution(coords)`

Function: Inverse coordinate solution; input coordinates and read angles.
Parameter Description:
- coords (list[float]): List of coordinate values [X, Y, Z, R]
Return Value:
- angles (list[float]): List of angle values [J1, J2, J3, J4]

66 `angle_correct_solution(angles)`

Function: Correct angle solution; input angles and read coordinates.
Parameter Description:
- angles (list[float]): List of angle values [J1, J2, J3, J4]
Return Value:
- coords (list[float]): List of coordinate values [X, Y, Z, R]

67 `get_wifi_signal_strength()`

Function: Reads WiFi signal strength (only available when WiFi is connected)
Return Value: int signal strength, in dBm, e.g., -62

68 `get_bluetooth_signal_strength()`

Function: Reads Bluetooth signal strength (only available when Bluetooth is connected)
Return Value: int signal strength, in dBm, e.g., -52

69 `set_collision_threshold(joint_id, threshold)`

Function: Sets the joint collision threshold.
Parameter Description:
joint_id (int) : 0 ~ 4
- 0 : All joint
- 1: J1
- 2: J2
- 3: J3
- 4: J4
threshold (float/int): Threshold value, range 0.5 ~ 100
Return Value:
- ok

70 `get_communication_mode()`

Function: Retrieves the current communication mode.
Return Value:
- Uart0 - Communicates using serial port 0
- Uart1 - Communicates using serial port 1
- WiFi - Communicates using WiFi
- Bluetooth - Communicates using Bluetooth

71 `set_uart1_communication(state)`

Function: Sets communication using serial port 1.
Parameter Description:
- state (int) : 0 ~ 1; 0 - Off; 1 - On
Return Value:
- ok

72 `get_collision_threshold()`

Function: Reads the collision threshold of a joint.
Return value: (list[float]): The collision threshold for all joints, e.g., [0.5, 0.5, 0.5, 0.5]

73 `get_pwm_status()`

Function: Gets the PWM output status.
Return value: (list[int]), length 4, e.g., [0, 0, 0, 0]
- [0]: Laser mode status, 0 - Off, 1 - On
- [1]: PWM value for laser mode, range 0 ~ 255
- [2]: Custom mode status, 0 - Off, 1 - On
- [3]: PWM value for custom mode, range 0 ~ 255

74 `set_conveyor_stop()`

Function: Sets the conveyor belt to stop moving.
Return Value:
- ok

TCP Socket Communication

Uses TCP/IP to control the robotic arm.

Server-Side

The connection mode needs to be switched to WLAN on the small screen on the robotic arm base, and a wireless WiFi network needs to be connected. Once the WiFi connection is successful, the server is successfully started, and the screen will display the server's IP address and port number.

Client-Side

Note:
1. The IP address and port number are provided by the server.
2. The PC's network needs to be on the same network segment as the server's network.
3. The interface name and usage method for socket communication are the same as for serial communication.


# Example
from ultraArm_P1_lib import UltraArmP1Socket

# Default port 9000

ua = UltraArmP1Socket("192.168.10.10",9000)

res = ua.get_angles_info()

print(res)

ua.set_angles([0, 0, 90, 0],50)

...

BLE Bluetooth Communication

Use the BLE GATT Bluetooth communication service to control the robotic arm.

Server-Side

The connection mode needs to be switched to Bluetooth on the small screen on the robotic arm base, and the Bluetooth service needs to be enabled. After enabling Bluetooth, the screen will display the Bluetooth connection status, Bluetooth name, and Bluetooth MAC address.

Client-Side

Note:
1. The Bluetooth address can only be obtained after Bluetooth is enabled on the robotic arm screen.
2. After successfully connecting via Bluetooth, the Bluetooth connection status on the robotic arm's small screen will display Connected.
3. The interface name and usage method for Bluetooth communication are the same as for serial communication.


# Example
from ultraArm_P1_lib import UltraArmP1Bluetooth

# Modify the Bluetooth address according to the actual situation
ua = UltraArmP1Bluetooth("10:51:DB:40:2C:11")

res = ua.get_angles_info()

print(res)

ua.set_angles([0, 0, 90, 0],50)

...

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UltraArm P1 API Method Details

Preparation Before Use

USB Serial Communication

1 set_joint_release(joint_id)

2 set_joint_enable(joint_id)

3 get_system_version()

4 get_modify_version()

5 get_angles_info()

6 set_angle(id, angle, speed, _async=True)

7 set_angles(angles, speed, _async=True)

8 get_coords_info()

9 set_coords_max_speed(coords, _async=True)

10 set_coords(coords, speed, _async=True)

11set_coord(coord_id, coord, speed, _async=True)

12 stop()

13 set_jog_angle(joint_id, direction, speed, _async=True)

14 set_jog_coord(axis_id, direction, speed, _async=True)

15 jog_increment_angle(joint_id, increment, speed, _async=True)

16 jog_increment_coord(coord_id, increment, speed, _async=True)

17 get_error_information()

18 set_zero_calibration()

19 get_zero_calibration_state()

20 get_run_status()

21 set_pwm_laser_mode(state)

22 set_pwm_laser(p_value)

23 set_pwm_custom_mode(state)

24 set_pwm_custom(p_value)

25 set_gripper_angle(gripper_angle, gripper_speed)

26 get_gripper_angle()

27 set_gripper_parameter(addr, parameter_value)

28 get_gripper_parameter(addr)

29 set_gripper_enable_status(state):

30 set_gripper_zero()

31 set_pump_state(pump_state)

32 set_base_io_output(pin_no, pin_status, pin_signal)

33 set_digital_io_output(pin_no, pin_signal)

34 set_i2c_data(data_state, data_addr, data_len, data_value)

35 play_gcode_file(filename)

36 get_system_screen_version()

37 get_modify_screen_version()

38 set_communication_baud_rate(baud_rate)

39 receive_485_data()

40 set_wifi_password(wifi_name, password)

41 check_sd_card()

42 download_firmware_sd(filename, show_progress=True)

43 upgrade_restart()

44 get_motor_enable_status()

45 finish_firmware_upgrade()

46 get_base_io_state()

47 get_base_io_state(pin_no)

48 get_end_io_state()

49 get_end_io_state(pin_no)

50 set_end_button_enable()

51 set_end_button_disable()

52 forced_reset_zero()

53 set_conveyor_control(state, direction, speed, distance)

54 set_color(r, g, b)

55 set_preview_mode(coords)

56 get_sd_card_space()

57 collision_unlock()

58 clear_error_status()

59 get_queue_size()

60 set_robot_id(robot_id)

61 get_robot_id()

62 get_wifi_ip()

63 get_bluetooth_mac()

64 get_end_button_state()

65 coord_inverse_solution(coords)

66 angle_correct_solution(angles)

67 get_wifi_signal_strength()

68 get_bluetooth_signal_strength()

69 set_collision_threshold(joint_id, threshold)

70 get_communication_mode()

71 set_uart1_communication(state)

72 get_collision_threshold()

73 get_pwm_status()

74 set_conveyor_stop()

TCP Socket Communication

Server-Side

Client-Side

1 `set_joint_release(joint_id)`

2 `set_joint_enable(joint_id)`

3 `get_system_version()`

4 `get_modify_version()`

5 `get_angles_info()`

6 `set_angle(id, angle, speed, _async=True)`

7 `set_angles(angles, speed, _async=True)`

8 `get_coords_info()`

9 `set_coords_max_speed(coords, _async=True)`

10 `set_coords(coords, speed, _async=True)`

11`set_coord(coord_id, coord, speed, _async=True)`

12 `stop()`

13 `set_jog_angle(joint_id, direction, speed, _async=True)`

14 `set_jog_coord(axis_id, direction, speed, _async=True)`

15 `jog_increment_angle(joint_id, increment, speed, _async=True)`

16 `jog_increment_coord(coord_id, increment, speed, _async=True)`

17 `get_error_information()`

18 `set_zero_calibration()`

19 `get_zero_calibration_state()`

20 `get_run_status()`

21 `set_pwm_laser_mode(state)`

22 `set_pwm_laser(p_value)`

23 `set_pwm_custom_mode(state)`

24 `set_pwm_custom(p_value)`

25 `set_gripper_angle(gripper_angle, gripper_speed)`

26 `get_gripper_angle()`

27 `set_gripper_parameter(addr, parameter_value)`

28 `get_gripper_parameter(addr)`

29 `set_gripper_enable_status(state):`

30 `set_gripper_zero()`

31 `set_pump_state(pump_state)`

32 `set_base_io_output(pin_no, pin_status, pin_signal)`

33 `set_digital_io_output(pin_no, pin_signal)`

34 `set_i2c_data(data_state, data_addr, data_len, data_value)`

35 `play_gcode_file(filename)`

36 `get_system_screen_version()`

37 `get_modify_screen_version()`

38 `set_communication_baud_rate(baud_rate)`

39 `receive_485_data()`

40 `set_wifi_password(wifi_name, password)`

41 `check_sd_card()`

42 `download_firmware_sd(filename, show_progress=True)`

43 `upgrade_restart()`

44 `get_motor_enable_status()`

45 `finish_firmware_upgrade()`

46 `get_base_io_state()`

47 `get_base_io_state(pin_no)`

48 `get_end_io_state()`

49 `get_end_io_state(pin_no)`

50 `set_end_button_enable()`

51 `set_end_button_disable()`

52 `forced_reset_zero()`

53 `set_conveyor_control(state, direction, speed, distance)`

54 `set_color(r, g, b)`

55 `set_preview_mode(coords)`

56 `get_sd_card_space()`

57 `collision_unlock()`

58 `clear_error_status()`

59 `get_queue_size()`

60 `set_robot_id(robot_id)`

61 `get_robot_id()`

62 `get_wifi_ip()`

63 `get_bluetooth_mac()`

64 `get_end_button_state()`

65 `coord_inverse_solution(coords)`

66 `angle_correct_solution(angles)`

67 `get_wifi_signal_strength()`

68 `get_bluetooth_signal_strength()`

69 `set_collision_threshold(joint_id, threshold)`

70 `get_communication_mode()`

71 `set_uart1_communication(state)`

72 `get_collision_threshold()`

73 `get_pwm_status()`

74 `set_conveyor_stop()`