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6.1.2-ApplicationBasePython.md

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6.1 Python API

[toc]

6.1.1 API usage instructions

API (Application Programming Interface), also known as Application Programming Interface functions, are predefined functions. When using the following function interfaces, please import our API library at the beginning by entering the following code, otherwise it will not run successfully:

# Example
from pymycobot import Mercury

ml = Mercury('/dev/left_arm')
mr = Mercury('/dev/right_arm')
# The first time you start the machine, you must power it on before you can control the robot.
ml.power_on()
mr.power_on()

print(ml.get_angles())
print(mr.get_angles())

1. System Status

get_system_version()

  • function： get system version
  • Return value： system version

get_robot_type()

  • function： get robot id

  • Return value： Definition Rule: Actual machine model. For example, the Mercury A1 model is 4500

get_atom_version()

  • function： Get the end version number
  • Return value： End parameters(float)

get_robot_status()

  • function: Upper computer error security status
  • Return value: 0 - Normal. other - Robot triggered collision detection

2. Overall Status

power_on()

  • function: atom open communication (default open)

    • Attentions： After executing poweroff or pressing emergency stop, it takes 7 seconds to power on and restore power

  • Return value:

    • 1 - Power on completed.
    • 0 - Power on failed

power_off()

  • function: Power off of the robotic arm

  • Return value:

    • 1 - Power on completed.
    • 0 - Power on failed

is_power_on()

  • function: judge whether robot arms is powered on or not

  • Return value:

    • 1: power on
    • 0: power off
    • -1: error

release_all_servos()

  • function: release all robot arms
    • Attentions：After the joint is disabled, it needs to be enabled to control within 1 second
  • Parameters：data（optional）：The way to relax the joints. The default is damping mode, and if the 'data' parameter is provided, it can be specified as non damping mode (1- Undamping).
  • Return value:
    • 1 - release completed.
    • 0 - release failed

focus_all_servos()

  • function: Turn on robot torque output

    • Return value:
      • 1: complete
      • 0: failed
      • -1: error

3.MDI Mode and Operation

get_angles()

  • function: get the degree of all joints
  • Return value: list a float list of all degree

get_angle()

  • function: Get single joint angle
  • Parameters： joint_id (int): 1 ~ 7
  • Return value: Array of angles corresponding to joints

send_angle(id, degree, speed)

  • function: send one degree of joint to robot arm
  • Parameters:

    • id: Joint id(genre.Angle), range int 1-7

    • degree: degree value(float) Arm joint range of motion

      Joint Id range
      1 -178 ~ 178
      2 -74 ~ 130
      3 -178 ~ 178
      4 -180 ~ 10
      5 -178 ~ 178
      6 -20 ~ 273
      7 -180 ~ 180

      Body joint range of motion. Joint 11 is the chin camera. Joint 12 is the neck. Joint 13 is the lumbar joint

      Joint Id range
      11 -60 ~ 0
      12 -138 ~ 188
      13 -118 ~ 118

    • speed：the speed and range of the robotic arm's movement 1~100

send_angles(angles, speed)

  • function： Send all angles to all joints of the robotic arm
  • Parameters:
    • angles: a list of degree value(List[float]), length 7
    • speed: (int) 1 ~ 100

get_coords()

  • function: Obtain robot arm coordinates from a base based coordinate system
  • Return value: a float list of coord:[x, y, z, rx, ry, rz]

send_coord(id, coord, speed)

  • function: send one coord to robot arm
  • Parameters:
    • id:send one coord to robot arm, 1-6 corresponds to [x, y, z, rx, ry, rz]
    • coord: coord value(float)
      Coord Id range
      1 -466 ~ 466
      2 -466 ~ 466
      3 -240 ~ 531
      4 -180 ~ 180
      5 -180 ~ 180
      6 -180 ~ 180
    • speed: (int) 1-100

send_coords(coords, speed, mode)

  • function:: Send overall coordinates and posture to move the head of the robotic arm from its original point to your specified point
  • Parameters:
    • coords: ： a list of coords value [x,y,z,rx,ry,rz],length6
    • speed(int): 1 ~ 100

pause()

  • function: Control the instruction to pause the core and stop all movement instructions

is_paused()

  • function: Check if the program has paused the move command
  • Return value:
    • 1 - paused
    • 0 - not paused
    • -1 - error

resume()

  • function: resume the robot movement and complete the previous command

stop()

  • function: stop all movements of robot
  • Return value:
    • 1 - stopped
    • 0 - not stop
    • -1 - error

is_in_position(data, flag)

  • function : judge whether in the position.
  • Parameters:
    • data: Provide a set of data that can be angles or coordinate values. If the input angle length range is 7, and if the input coordinate value length range is 6
    • flag data type (value range 0 or 1)
      • 0: angle
      • 1: coord
  • Return value:
    • 1 - true
    • 0 - false
    • -1 - error

is_moving()

  • function: judge whether the robot is moving
  • Return value:
    • 1 moving
    • 0 not moving
    • -1 error

4. JOG Mode and Operation

jog_angle(joint_id, direction, speed)

  • function: jog control angle
  • Parameters:
    • joint_id: Represents the joints of the robotic arm, represented by joint IDs ranging from 1 to 7
    • direction(int): To control the direction of movement of the robotic arm, input 0 as negative value movement and input 1 as positive value movement
    • speed: 1 ~ 100

jog_coord(coord_id, direction, speed)

  • function: jog control coord.
  • Parameters:
    • coord_id: (int) Coordinate range of the robotic arm: 1~6
    • direction:(int) To control the direction of machine arm movement, 0 - negative value movement, 1 - positive value movement
    • speed: 1 ~ 100

jog_increment_angle(joint_id, increment, speed)

  • function: Single joint angle increment control
  • Parameters:
    • joint_id: 1-7
    • increment: Incremental movement based on the current position angle
    • speed: 1 ~ 100

jog_increment_coord(coord_id, increment, speed)

  • function: Single joint angle increment control
  • Parameters:
    • joint_id: axis id 1 - 6.
    • increment: Incremental movement based on the current position coord
    • speed: 1 ~ 100

5. Coordinate controlled attitude deviation angle

get_solution_angles()

  • function: Obtain the value of zero space deflection angle
  • Return value：Zero space deflection angle value

set_solution_angles(angle, speed)

  • function: Obtain the value of zero space deflection angle

  • Parameters:

    • angle : Input the angle range of joint 1, angle range -90 to 90

    • speed : 1 - 100.

6. Joint software limit operation

get_joint_min_angle(joint_id)

  • function: Read the minimum joint angle
  • Parameters:
    • joint_id : Enter joint ID (range 1-7)
  • Return value：float Angle value

get_joint_max_angle(joint_id)

  • function: Read the maximum joint angle
  • Parameters:
    • joint_id : Enter joint ID (range 1-7)
  • Return value: float Angle value

set_joint_min(id, angle)

  • function: Set minimum joint angle limit
  • Parameters:
    • id : Enter joint ID (range 1-7)
    • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be less than the minimum value

set_joint_max(id, angle)

  • function: Set minimum joint angle limit
  • Parameters:
    • id : Enter joint ID (range 1-7)
    • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be greater than the maximum value

7. Joint motor control

is_servo_enable(servo_id)

  • function: Detecting joint connection status
  • Parameters: servo id 1-7
  • Return value:
    • 1: Connection successful
    • 0: not connected
    • -1: error

is_all_servo_enable()

  • function: Detect the status of all joint connections
  • Return value:
    • 1: Connection successful
    • 0: not connected
    • -1: error

set_servo_calibration(servo_id)

  • function: The current position of the calibration joint actuator is the angle zero point
  • Parameters:
    • servo_id: 1 - 7

release_servo(servo_id)

  • function: Set the specified joint torque output to turn off
  • Parameters:
    • servo_id: 1 ~ 7
  • Return value:
    • 1: release successful
    • 0: release failed
    • -1: error

focus_servo(servo_id)

  • function: Set the specified joint torque output to turn on
  • Parameters: servo_id: 1 ~ 7
  • Return value:
    • 1: focus successful
    • 0: focus failed
    • -1: error

set_break（joint_id, value）

  • function: Set break point
  • Parameters：
    • joint_id: int. joint id 1 - 7
    • value: int. 0 - disable, 1 - enable
  • Return value: 0 : faile; 1 : success

get_servo_speeds()

  • function：Get the movement speed of all joints
  • Return value： unit step/s

get_servo_currents()

  • function：Get the movement current of all joints
  • Return value： 0 ~ 5000 mA

get_servo_status()

  • function：Get the movement status of all joints
  • Return value： a value of 0 means no error

servo_restore(joint_id)

  • function：Clear joint abnormalities
  • Parameters：
    • joint_id: int. joint id 1 - 7

8. Robotic arm end IO control

set_digital_output(pin_no, pin_signal)

  • function: set IO statue
  • Parameters
    • pin_no (int): Pin number
    • pin_signal (int): 0 / 1

get_digital_input(pin_no)

  • function: read IO statue
  • Parameters: pin_no (int)
  • Return value: signal

9. Robotic arm end gripper control

set_gripper_state(flag, speed, _type_1=None)

  • function: Adaptive gripper enable

  • Parameters:

    • flag (int) : 0 - open 1 - close, 254 - release

    • speed (int): 1 ~ 100

    • _type_1 (int):

      • 1 : Adaptive gripper (default state is 1)

      • 2 : A nimble hand with 5 fingers

      • 3 : Parallel gripper

      • 4 : Flexible gripper

set_gripper_value(gripper_value, speed, gripper_type=None)

  • function: Set the gripper value

  • Parameters:

    • gripper_value (int) : 0 ~ 100

    • speed (int): 1 ~ 100

    • gripper_type (int):

      • 1 : Adaptive gripper (default state is 1)

      • 2 : A nimble hand with 5 fingers

      • 3 : Parallel gripper

      • 4 : Flexible gripper

set_gripper_calibration()

  • function: Set the current position of the gripper to zero

set_gripper_enabled(value)

  • function: Adaptive gripper enable setting
  • Parameters:
    • value 1: Enable 0: Release

set_gripper_mode(mode)

  • function: Set gripper mode
  • Parameters:
    • value :
      • 0: Transparent transmission mode
      • 1: normal mode

get_gripper_mode()

  • function: Get gripper mode
  • Return value:
    • 0: Transparent transmission mode
    • 1: normal mode

init_electric_gripper()

  • Function:: Initialize the electric gripper. This interface needs to be called for initialization before the electric gripper is powered on for the first time.

set_electric_gripper(mode)

  • Function:: Setting the electric gripper mode
  • Parameters:
    • mode :
      • 0: Closed gripper
      • 1: Open gripper

10. Button function at the end of the robot arm

is_btn_clicked()

  • function: Get the status of the button at the end of the robot arm
  • Return value:
    • 0: no clicked
    • 1: clicked

set_color(r, g, b)

  • function: Set the color of the end light of the robotic arm

  • Parameters:

    • r (int): 0 ~ 255

    • g (int): 0 ~ 255

    • b (int): 0 ~ 255

11. Drag Teaching

drag_teach_save()

  • function: Start recording and dragging teaching points.
    • Note: In order to display the best sports effect, the recording time should not exceed 90 seconds

drag_teach_pause()

  • function: Pause sampling

drag_teach_execute()

  • function: Start dragging the teach-in point, executing it only once.

drag_teach_clean()

  • function: clear sample.

12. Cartesian space coordinate parameter setting

set_tool_reference(coords)

  • function: Set tool coordinate system.
  • Parameters：coords: (list) [x, y, z, rx, ry, rz].
  • Return value: NULL

get_tool_reference(coords)

  • function: Get tool coordinate system.
  • Return value: oords: (list) [x, y, z, rx, ry, rz]

set_world_reference(coords)

  • function: Set world coordinate system.
  • Parameters：coords: (list) [x, y, z, rx, ry, rz].
  • Return value: NULL

get_world_reference()

  • function: Get world coordinate system.
  • Return value: list [x, y, z, rx, ry, rz].

set_reference_frame(rftype)

  • function: Set base coordinate system.
  • Parameters：rftype: 0 - base 1 - tool.

get_reference_frame()

  • function: Set base coordinate system.
  • Return value:
    • 0 - base
    • 1 - tool.

set_movement_type(move_type)

  • function: Set movement type.
  • Parameters：
    • move_type: 1 - movel, 0 - moveJ.

get_movement_type()

  • function: Get movement type.
  • Return value:
    • 1 - movel
    • 0 - moveJ

set_end_type(end)

  • function: Get end coordinate system
  • Parameters:
    • end (int): 0 - flange, 1 - tool

get_end_type()

  • function: Obtain the end coordinate system
  • Return value:
    • 0 - flange
    • 1 - tool

13. Circular motion

write_move_c(transpoint, endpoint, speed)

  • function：Arc trajectory motion
  • Parameters： transpoint(list)：Arc passing through point coordinates endpoint (list)：Arc endpoint coordinates speed(int)： 1 ~ 100

14. Set bottom IO input/output status

set_basic_output(pin_no, pin_signal)

  • function：Set Base IO Output
  • Parameters：
    • pin_no (int) Pin port number, range 1 ~ 6
    • pin_signal (int): 0 - low. 1 - high

get_basic_input(pin_no)

  • function: Read base IO input, range 1 ~ 6
  • Parameters:
    • pin_no (int) pin number
  • Return value: 0 - low. 1 - high

15. Set up 485 communication at the end of the robotic arm

tool_serial_restore()

  • function：485 factory reset

tool_serial_ready()

  • function: Set up 485 communication
  • Return value: 0 : not set 1 : Setup completed

tool_serial_available()

  • function: Set up 485 communication
  • Return value: 0-Normal 1-Robot triggered collision detection

tool_serial_read_data()

  • function: Read fixed length data. Before reading, read the buffer length first. After reading, the data will be cleared
  • Parameters： data_len (int): The number of bytes to be read, range 1 ~ 45
  • Return value: 0 : not set 1 : Setup completed

tool_serial_write_data()

  • function: End 485 sends data， Data length range is 1 ~ 45 bytes
  • Return value: 0-Normal 1-Robot triggered collision detection

tool_serial_flush()

  • function: Clear 485 buffer
  • Return value: 0-Normal 1-Robot triggered collision detection

tool_serial_peek()

  • function: View the first data in the buffer, the data will not be cleared
  • Return value: 1 byte data

tool_serial_set_baud(baud)

  • function: Set 485 baud rate, default 115200
  • Parameters: baud (int): baud rate
  • Return value: NULL

tool_serial_set_timeout(max_time)

  • function: Set 485 timeout in milliseconds, default 30ms
  • Parameters
    • max_time: (int): timeout
  • Return value: NULL

6.1.2 Base control interface

API Usage Instructions

# demo
from pymycobot import ChassisControl

mc = ChassisControl()

# Get battery voltage
voltage = mc.get_power_voltage()
print(voltage)

# Set the chassis RGB light strip to green
mc.set_color(255, 0, 0)

get_power_voltage()

  • Function: Get the battery voltage.
  • Return value: Battery voltage (floating point type), unit: Volt

get_ultrasonic_value()

  • Function: Get all ultrasonic data.
  • Return value: List of all ultrasonic data, unit: millimeter.

go_straight(speed)

  • Function: Control the chassis to move forward.
  • Parameters:
    • speed: (floating point type) the speed of chassis movement, the range is 0 ~ 1, unit: m/s.

go_back(speed)

  • Function: Control chassis to move backward.
  • Parameters:
    • speed: (floating point type) chassis movement speed, range is -1 ~ 0, unit: m/s.

turn_left(speed)

  • Function: Control the chassis to rotate to the left.
  • Parameters:
    • speed: (floating point type) the speed of chassis movement, ranging from 0 ~ 1, unit: m/s.

turn_right(speed)

  • Function: Control chassis to rotate right.
  • Parameters:
    • speed: (floating point type) chassis movement speed, range is -1 ~ 0, unit: m/s.

stop()

  • Function: Stop motion.

set_color(r, g, b)

  • Function: Set the color of the chassis RGB light strip.
  • Parameters:
    • r (int): 0 ~ 255
    • g (int): 0 ~ 255
    • b (int): 0 ~ 255

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