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MyArm

[toc]

API usage instructions

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

# Example
from pymycobot import MyArmM

mam = MyArmM('/dev/ttyAMA1')

# Gets the current angle of all joints
angles = mam.get_joints_angle()
print(angles)

# Set 1 joint to move to 40 and speed to 20
mam.set_joint_angle(1, 40, 20)

MyArmAPI(M&C)

This interface is shared by MyArmM and MyArmC

1. Robot status

get_robot_modified_version()

  • Description: Get the bot correction version number

  • Returns:

    • version (int): the bot correction version number

get_robot_firmware_version()

  • Description: Obtaining the Robot Firmware Version (Major and Minor Versions)

  • Returns:

    • version (int): the robot firmware

get_robot_tool_modified_version()

  • Description: Get the remediation version of the bot tool

get_robot_tool_firmware_version()

  • Description: Get the Robot Tool Firmware Version (End Atom)

set_robot_err_check_state(status)

  • Description: Set Error Detection Status You can turn off error detection, but do not turn it off unless necessary

  • Parameters:

    • status (int): 1 open; o close

get_robot_err_check_state()

  • Description: Read error detection status

get_robot_error_status()

  • Description: Get the bot error status

  • Returns:

    • No error: [0,0,0,0,0,0,0,0]

    • assuming that error 1 and 3 are reported in section 1, it should return: [[1,3],0,0,0,0,0,0,0]

get_robot_power_status()

  • Description: Get the robot power status

  • Returns:

    • power_status (int): 0: power off, 1: power on

set_robot_power_on()

  • Description: Set the robot to power on

    • Returns: (int) 1

set_robot_power_off()

  • Description: Set the robot to power off

    • Returns: (int) 1

clear_robot_err()

  • Description: Clear the robot abnormality Ignore the error joint and continue to move

set_recv_queue_max_len(max_len)

  • Description: Set the total length of the receiving command queue

get_recv_queue_max_len()

  • Description: The total length of the read command queue, the default length is 100

clear_recv_queue()

  • Description: Clear the queue for receiving commands

get_recv_queue_len()

  • Description: The current length of the read receive queue

2. Joint servo control

get_joint_angle(joint_id)

  • Description: Gets the current angle of the specified joint

  • Parameters:

    • joint_id (int): 0 - 254

get_joints_angle()

  • Description: Gets the current angle of all joints

  • Returns:

    • angles list(int): 0 - 254

get_joints_max()

  • Description: Read the maximum angle of all joints

get_joints_min()

  • Description: Read the minimum angle of all joints

3. Servo motor control

set_servo_calibrate(servo_id)

  • Description: Sets the zero position of the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

get_servo_encoder(servo_id)

  • Description: Gets the current encoder potential value for the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

  • Returns:

    • encoder (int): 0-4095

get_servos_encoder()

  • Description: Obtain the current encoder potential values for multiple servo motors

get_servos_speed()

  • Description: Gets the current movement speed of multiple servo motors

is_all_servos_enabled()

  • Description: Get the connection status of multiple servo motors

  • Returns:

    • status: list[int*8] 0: The connection failed 1: The connection is successful

get_servos_temp()

  • Description: Obtain the temperature of multiple servo motors

get_servos_voltage()

  • Description: Get the voltage of multiple servo motors

get_servos_current()

  • Description: Obtain the current of multiple servo motors

get_servos_status()

  • Description: Get all the statuses of multiple servo motors

get_servos_protect_current()

  • Description: Obtain multiple servo motor protection currents

set_servo_enabled(joint_id, state)

  • Description: Set the servo motor torque switch

  • Parameters:

    • joint_id (int): 0-254 254-all

    • state: 0/1

      • 1: focus
      • 0: release

4. Servo motor system parameter modification

set_servo_p(servo_id, data)

  • Description: Sets the proportionality factor of the position loop P of the specified servo motor

  • Parameters:

    • servo_id (int): 0-254

    • data (int): 0-254

get_servo_p(servo_id)

  • Description: Reads the position loop P scale factor of the specified servo motor

  • Parameters:

    • servo_id (int): 0-254

set_servo_i(servo_id, data)

  • Description: Set the proportional factor of the position ring I of the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

    • data (int): 0 - 254

get_servo_i(servo_id)

  • Description: Reads the position loop I scale factor of the specified servo motor

set_servo_d(servo_id, data)

  • Description: Sets the proportional factor for the position ring D of the specified servo motor

  • Parameters:

    • servo_id (int): 0-254

    • data (int): 0-254

get_servo_d(servo_id)

  • Description: Reads the position ring D scale factor for the specified servo motor

  • Parameters:

    • servo_id (int): 0-254

set_servo_cw(servo_id, data)

  • Description: Sets the clockwise insensitivity zone of the encoder for the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

    • data (int): 0 - 32

get_servo_cw(servo_id)

  • Description: Reads the clockwise insensitive area of the encoder for the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

set_servo_cww(servo_id, data)

  • Description: Sets the counterclockwise insensitive zone of the encoder for the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

    • data (int): 0 - 32

get_servo_cww(servo_id)

  • Description: Reads the counterclockwise insensitive area of the encoder of the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

set_servo_system_data(servo_id, addr, data, mode)

  • Description: Set the system parameters for the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254:

    • addr (int):

    • data (int): 0 - 4096

    • mode (int): 1 - data 1byte. 2 - data 2byte

get_servo_system_data(servo_id, addr, mode)

  • Description: Read the system parameters of the specified servo motor

  • Parameters:

    • servo_id (int): 0 - 254

    • addr (int):

    • mode (int): 1 - data 1byte. 2 - data 2byte

5. IO control

set_master_out_io_state(io_number, status)

  • Description: Set the host I/O pin status

  • Parameters:

    • io_number: 1 - 2

    • status: 0/1; 0: low; 1: high. default: 1

get_master_in_io_state(io_number)

  • Description: get the host I/O pin status

  • Parameters:

    • io_number (int): 1 - 2

  • Returns:

    • 0 or 1. 1: high 0: low

set_tool_out_io_state(io_number, status)

  • Description: Set the Atom pin status

  • Parameters:

    • io_number (int): 1 - 2

    • status: 0 or 1; 0: low; 1: high. default: 1

get_tool_in_io_state(io_number)

  • Description: Get the Atom pin status

  • Parameters:

    • io_number (int): pin number

  • Returns:

    • 0 or 1. 1: high 0: low

6. Atom control

set_tool_led_color(r, g, b)

  • Description: Set the Atom LED color

  • Parameters:

    • r: 0-255

    • g: 0-255

    • b: 0-255

is_tool_btn_clicked()

  • Description: read the atom press status

  • Returns:

    • int: 0 or 1. 1: press

MyArmM

Only MyArmM interfaces are available

1. Joint servo control

set_joint_angle(joint_id, angle, speed)

  • Description: Sets the individual joints to move to the target angle

  • Parameters:

    • joint_id (int) : 0 - 254

    • angle (int) : 0 - 254

    • speed (int) : 1 - 100

set_joints_angle(angles, speed)

  • Description: Sets all joints to move to the target angle

  • Parameters:

    • angles (list[int]): 0 - 254

    • speed (int): 0 - 100

is_robot_moving()

  • Description: See if the robot is moving

  • Returns:

    • 1: moving

    • 0: not moving

stop_robot()

  • Description: The robot stops moving

2. Servo motor control

set_servo_encoder(servo_id, encoder, speed)

  • Description: Sets the individual motor motion to the target encoder potential value

  • Parameters:

    • servo_id: (int) 0 - 254

    • encoder: (int) 0 - 4095

    • speed: (int) 1 - 100

set_servos_encoder(positions, speed)

  • Description: Set the encoder potential value for multiple motors moving to the target

  • Parameters:

    • positions (list[int * 8]): 0 - 4095:

    • speed (int): 1 - 100:

set_servos_encoder_drag(encoders, speeds)

  • Description: Set multiple servo motors with a specified speed to the target encoder potential value

3. IO control

get_assist_in_io_state(io_number)

  • Description: Get the auxiliary pin status

  • Parameters:

    • io_number (int): 1 - 6

  • Returns:

    • 0 or 1. 1: high 0: low

set_assist_out_io_state(io_number, status)

  • Description: Set the auxiliary pin status

  • Parameters:

    • io_number: 1 - 6

    • status: 0/1; 0: low; 1: high. default: 1