Metadata-Version: 2.1
Name: pymycobot
Version: 2.7.2
Summary: Python API for serial communication of MyCobot.
Home-page: https://github.com/elephantrobotics/pymycobot
Author: Elephantrobotics
Author-email: weiquan.xu@elephantrobotics.com
License: UNKNOWN
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2.7
Classifier: Programming Language :: Python :: 3.5
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3.8
Classifier: Programming Language :: Python :: 3.9
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Requires-Python: >=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*
Description-Content-Type: text/markdown
Requires-Dist: pyserial

# This is Python API for myCobot

![Python 2.7](https://img.shields.io/badge/Python-v2.7%5E-green?logo=python)
![Python 3](https://img.shields.io/badge/Python-v3%5E-green?logo=python)
[![pypi_version](https://img.shields.io/pypi/v/pymycobot?label=pypi)](https://pypi.org/project/pigit)

This is a python API for serial communication with mycobot and controlling it.

[![home](./f3-min2.jpg)](https://www.elephantrobotics.com/en/myCobot-en/)

## Installation

**Notes**:

> Make sure that `Atom` is flashed into the top Atom, `Transponder` is flashed into the base Basic. <br>
> The firmware `Atom` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
> You also can use myStudio to flash them, myStudio address: [https://github.com/elephantrobotics/myStudio/releases](https://github.com/elephantrobotics/myStudio/releases)

### Pip

```bash
pip install pymycobot --upgrade
```

<!--
**Notes:**

> Now only the version is `Atom2.4` or later is supported. If you use an earlier version, please install `pymycobot 1.0.7`.

```bash
pip install pymycobot==1.0.7 --user
```
-->

### Source code

```bash
git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
cd <your-path>/pymycobot
# Install
[sudo] python2 setup.py install
# or
[sudo] python3 setup.py install
```
Or the more modern form:
```
# Install
pip install .
# Uninstall
pip uninstall .

## Usage:

```python
from pymycobot import MyCobot, Angle, Coord
from pymycobot import PI_PORT, PI_BAUD # For raspberry pi version of mycobot.
```

The [`demo`](./demo) directory stores some test case files.

You can find out which interfaces pymycobot provides in `pymycobot/README.md`.

Please go to [here](./docs/README.md).
# pymycobot

**This is python API for mycobot.**

We support Python2, Python3.5 or later.

<details>
<summary>Catalogue:</summary>

<!-- vim-markdown-toc GFM -->

- [pymycobot](#pymycobot)
- [MyCobot](#mycobot)
  - [Overall status](#overall-status)
    - [power_on](#power_on)
    - [power_off](#power_off)
    - [is_power_on](#is_power_on)
    - [release_all_servos](#release_all_servos)
    - [is_controller_connected](#is_controller_connected)
  - [MDI mode and operation](#mdi-mode-and-operation)
    - [get_angles](#get_angles)
    - [send_angle](#send_angle)
    - [send_angles()](#send_angles)
    - [get_radians](#get_radians)
    - [send_radians](#send_radians)
    - [get_coords](#get_coords)
    - [send_coord](#send_coord)
    - [send_coords](#send_coords)
    - [sync_send_angles](#sync_send_angles)
    - [sync_send_coords](#sync_send_coords)
    - [is_in_position](#is_in_position)
  - [JOG mode and operation](#jog-mode-and-operation)
    - [jog_angle](#jog_angle)
    - [jog_coord](#jog_coord)
    - [jog_stop](#jog_stop)
    - [pause](#pause)
    - [resume](#resume)
    - [stop](#stop)
    - [is_paused](#is_paused)
    - [set_encoder](#set_encoder)
    - [get_encoder](#get_encoder)
    - [set_encoders](#set_encoders)
    - [get_encoders](#get_encoders)
  - [Running status and Settings](#running-status-and-settings)
    - [get_speed](#get_speed)
    - [set_speed](#set_speed)
    - [get_joint_min_angle](#get_joint_min_angle)
    - [get_joint_max_angle](#get_joint_max_angle)
  - [Servo control](#servo-control)
    - [is_servo_enable](#is_servo_enable)
    - [is_all_servo_enable](#is_all_servo_enable)
    - [set_servo_data](#set_servo_data)
    - [get_servo_data](#get_servo_data)
    - [set_servo_calibration](#set_servo_calibration)
    - [release_servo](#release_servo)
    - [focus_servo](#focus_servo)
  - [Atom IO](#atom-io)
    - [set_color](#set_color)
    - [set_pin_mode](#set_pin_mode)
    - [set_digital_output()](#set_digital_output)
    - [get_digital_input()](#get_digital_input)
    - [set_pwm_output()](#set_pwm_output)
    - [get_gripper_value](#get_gripper_value)
    - [set_gripper_state](#set_gripper_state)
    - [set_gripper_value](#set_gripper_value)
    - [set_gripper_ini](#set_gripper_ini)
    - [is_gripper_moving](#is_gripper_moving)
  - [Basic](#basic)
    - [get_basic_input](#get_basic_input)
    - [set_basic_output](#set_basic_output)
    - [set_ssid_pwd](#set_ssid_pwd)
    - [get_ssid_pwd](#get_ssid_pwd)
    - [set_server_port](#set_server_port)
    - [get_tof_distance](#get_tof_distance)
  - [Raspberry pi -- GPIO](#raspberry-pi----gpio)
    - [gpio_init](#gpio_init)
    - [gpio_output](#gpio_output)
- [Angle](#angle)
- [Coord](#coord)
- [utils (Module)](#utils-module)
  - [get_port_list](#get_port_list)
  - [detect_port_of_basic](#detect_port_of_basic)
  - [MyCobotSocket](#mycobotsocket)
    - [Client](#client)
    - [Server](#server)
  - [socket control](#socket-control)
    - [connect](#connect)
    - [set_gpio_mode](#set_gpio_mode)
    - [set_gpio_out](#set_gpio_out)
    - [set_gpio_output](#set_gpio_output)
    - [get_gpio_in](#get_gpio_in)

<!-- vim-markdown-toc -->
</details>

# MyCobot

**Import to your project**:

```python
# for mycobot
from pymycobot import MyCobot

# for mypalletizer
# from pymycobot import MyPalletizer
```

> Note: If no parameter is given, there is no parameter; if no return value is given, there is no return value

## Overall status

### power_on

- **Prototype**: `power_on()`

- **Description**:Atom open communication (default open).

### power_off

- **Prototype**: `power_off()`

- **Description**: Atom turn off communication.

### is_power_on

- **Prototype**: `is_power_on()`

- **Description**: Adjust robot arm whether power on.

- **Returns**

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

### release_all_servos

- **Prototype**: `release_all_servos()`

- **Description**: Set robot arm into free moving mode.

### is_controller_connected

- **Prototype**: `is_controller_connected()`

- **Description**: Check if connected with Atom.

- **Returns**

  - `1`: connected
  - `0`: not connected
  - `-1`: error

## MDI mode and operation

### get_angles

- **Prototype**: `get_angles()`

- **Description**: Get the degree of all joints.

- **Returns**: `list`: A float list of all degree.

### send_angle

- **Prototype**: `send_angles(id, degree, speed)`

- **Description**: Send one degree of joint to robot arm.

- **Parameters**

  - `id`: Joint id(`genre.Angle`) / int 1-6
  - `degree`: degree value(`float`) (about -170 ～ 170)
  - `speed`: (`int`) 0 ~ 100

- **Example**

  ```python
  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Angle


  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angle(Angle.J2.value, 10, 50)
  ```

### send_angles()

- **Prototype**: `send_angles(degrees, speed)`

- **Description**: Send the degrees of all joints to robot arm.

- **Parameters**

  - `degrees`: a list of degree value(`List[float]`), length 6.

  - `speed`: (`int`) 0 ~ 100

- **Example**

  ```python
  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Angle


  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angles([0,0,0,0,0,0], 80)
  ```

### get_radians

- **Prototype**: `get_radians()`

- **Description**: Get the radians of all joints.

- **Returns**: `list`: A float list of radian.

### send_radians

- **Prototype**: `send_radians(radians, speed)`

- **Description**: Send the radians of all joint to robot arm.

- **Parameters**:

  - `radians`: a list of radian value(`List[float]`), length 6.
  - `speed`: (`int`) 0 ~ 100

- **Example**

  ```python
  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Angle


  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
  ```

### get_coords

- **Prototype**: `get_coords()`

- **Description**: Get the Coords from robot arm, coordinate system based on base.

- **Returns**: `list`: A float list of coord - `[x, y, z, rx, ry, rz]`

### send_coord

- **Prototype**: `get_coords(id, coord, speed)`

- **Description**: Send one coord to robot arm.

- **Parameters**

  - `id`: coord id(`genre.Coord`) / int 1-6
  - `coord`: coord value(`float`)
  - `speed`: (`int`) 0 ~ 100

- **Example**

  ```python
  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Coord


  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_coord(Coord.X.value, -40, 70)
  ```

### send_coords

- **Prototype**: `send_coords(coords, speed, mode)`

- **Description**: Send all coords to robot arm.

- **Parameters**

  - `coords`: a list of coords value(`List[float]`), length 6.
  - `speed`: (`int`) 0 ~ 100
  - `mode`: (`int`): `0` - angular, `1` - linear

- **Example**

  ```python
  from pymycobot.mycobot import MyCobot
  from pymycobot.genre import Coord


  mycobot = MyCobot('/dev/ttyUSB0')
  mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
  ```

### sync_send_angles

- **Prototype**: `sync_send_angles(degrees, speed, timeout=7)`

- **Description**: Send the angle in synchronous state and return when the target point is reached

- **Parameters**

  - `degrees`: a list of degree value(`List[float]`), length 6.
  - `speed`: (`int`) 0 ~ 100
  - `timeout`: default 7s.

### sync_send_coords

- **Prototype**: `sync_send_coords(coords, speed, mode, timeout=7)`

- **Description**: Send the coord in synchronous state and return when the target point is reached

- **Parameters**

  - `coords`: a list of coords value(`List[float]`)
  - `speed`: (`int`) 0 ~ 100
  - `mode`: (`int`): `0` - angular, `1` - linear
  - `timeout`: default 7s.

### is_in_position

- **Prototype**: `is_in_position(data, flag)`

- **Description**: Judge whether in the position.

- **Parameters**

  - `data`: A data list, angles or coords, length 6.
  - `flag`: Tag the data type, `0` - angles, `1` - coords.

- **Returns**

  - `1` - true
  - `0` - false
  - `-1` - error

## JOG mode and operation

### jog_angle

- **Prototype**: `jog_angle(joint_id, direction, speed)`

- **Description**: Jog control angle

- **Parameters**

  - `joint_id`: (`int`) 1 ~ 6
  - `direction`: `0` - decrease, `1` - increase
  - `speed`: 0 ~ 100

### jog_coord

- **Prototype**: `jog_coord(coord_id, direction, speed)`

- **Description**: Jog control coord.

- **Parameters**

  - `coord_id`: (`int`) 1 ~ 6
  - `direction`: `0` - decrease, `1` - increase
  - `speed`: 0 ~ 100

### jog_stop

- **Prototype**: `jog_stop()`

- **Description**: Stop jog moving.

### pause

- **Prototype**: `pause()`

- **Description**: Pause movement.

### resume

- **Prototype**: `resume()`

- **Description**: Recovery movement.

### stop

- **Prototype**: `stop()`

- **Description**: Stop moving.

### is_paused

- **Prototype**: `is_paused()`

- **Description**: Judge whether the manipulator pauses or not.

- **Returns** :

  - `1` - paused
  - `0` - not paused
  - `-1` - error

### set_encoder

- **Prototype**: `set_encoder(joint_id, encoder)`

- **Description**: Set a single joint rotation to the specified potential value.

- **Parameters**

  - `joint_id`: (`int`) 1 ~ 6
  - `encoder`: 0 ~ 4096

### get_encoder

- **Prototype**: `get_encoder(joint_id)`

- **Description**:Obtain the specified joint potential value.

- **Parameters**: `joint_id`: (`int`) 1 ~ 6

- **Returns**: `encoder`: 0 ~ 4096

### set_encoders

- **Prototype**: `set_encoders(encoders, sp)`

- **Description**: Set the six joints of the manipulator to execute synchronously to the specified position.

- **Parameters**:
  - `encoders`: A encoder list, length 6.
  - `sp`: speed 0 - 100

### get_encoders

- **Prototype**: `get_encoders()`

- **Description**: Get the six joints of the manipulator.

- **Returns**: the list of encoder (`list`)

## Running status and Settings

### get_speed

- **Prototype**: `get_speed()`

- **Description**: Get speed.

- **Returns**: speed: (`int`)

### set_speed

- **Prototype**: `set_speed(speed)`

- **Description**: Set speed.

- **Parameters**: speed: (`int`) 0 ~ 100

### get_joint_min_angle

- **Prototype**: `get_joint_min_angle()`
- **Description**: Gets the minimum movement angle of the specified joint

- **Parameters**: `joint_id`: (`int`)

- **Returns**: angle value (`float`)

### get_joint_max_angle

- **Prototype**: `get_joint_max_angle()`

- **Description**: Gets the maximum movement angle of the specified joint

- **Parameters**: `joint_id`: (`int`)

- **Returns**: angle value (`float`)

## Servo control

### is_servo_enable

- **Prototype**: `is_servo_enable(servo_id)`

- **Description**: Determine whether all steering gears are connected

- **Parameters**: `servo_id` (`int`) 1 ~ 6

- **Returns**

  - `0`: disable
  - `1`: enable
  - `-1`: error

### is_all_servo_enable

- **Prototype**: `is_all_servo_enable()`

- **Description**: Determine whether the specified steering gear is connected

- **Returns**

  - `0`: disable
  - `1`: enable
  - `-1`: error

### set_servo_data

- **Prototype**: `set_servo_data(servo_no, data_id, value)`
- **Description**: Set the data parameters of the specified address of the steering gear.

- **Parameters**:
  - `servo_no`: Serial number of articulated steering gear, 1 - 6.
  - `data_id`: Data address.
  - `value`: 0 - 4096

### get_servo_data

- **Prototype**: `get_servo_data(servo_no, data_id)`
- **Description**: Read the data parameter of the specified address of the steering gear.

- **Parameters**:

  - `servo_no`: Serial number of articulated steering gear, 1 - 6.
  - `data_id`: Data address.

- **Returns**: `value`: 0 - 4096

  - `0`: disable
  - `1`: enable
  - `-1`: error

### set_servo_calibration

- **Prototype**: `set_servo_calibration(servo_no)`
- **Description**: The current position of the calibration joint actuator is the angle zero point, and the corresponding potential value is 2048.

- **Parameters**:
  - `servo_no`: Serial number of articulated steering gear, 1 - 6.

### release_servo

- **Prototype**: `release_servo(servo_id)`

- **Description**: Power off designated servo

- **Parameters**: `servo_id`: 1 ~ 6

### focus_servo

- **Prototype**: `focus_servo(servo_id)`

- **Description**: Power on designated servo

- **Parameters**: `servo_id`: 1 ~ 6

## Atom IO

### set_color

- **Prototype**: `set_color(r, g, b)`

- **Description**: Set the color of the light on the top of the robot arm.

- **Parameters**

  - `r`: 0 ~ 255
  - `g`: 0 ~ 255
  - `b`: 0 ~ 255

### set_pin_mode

- **Prototype**: `set_pin_mode(pin_no, pin_mode)`
- **Description**: Set the state mode of the specified pin in atom.
- **Parameters**

  - `pin_no` (int): Pin number.
  - `pin_mode` (int): 0 - input, 1 - output, 2 - input_pullup

### set_digital_output()

- **Parameters**

  - `pin_no` (int):
  - `pin_signal` (int): 0 / 1

### get_digital_input()

- **Parameters**: `pin_no` (int)

- **Return**: signal value

<!-- ### set_pwm_mode()

- **Description**
- **Parameters**-->

### set_pwm_output()

- **Prototype**: `set_pwm_output(channel, frequency, pin_val)`

- **Description**: PWM control.

- **Parameters**

  - `channel` (`int`): IO number.
  - `frequency` (`int`): clock frequency
  - `pin_val` (`int`): Duty cycle 0 ~ 256; 128 means 50%

### get_gripper_value

- **Prototype**: `get_gripper_value()`

- **Description**: Get gripper value

- **Return**: gripper value (int)

### set_gripper_state

- **Prototype**: `set_gripper_state(flag, speed)`

- **Description**: Set gripper switch state

- **Parameters**

  - `flag` (`int`): 0 - open, 1 - close
  - `speed` (`int`): 0 ~ 100

### set_gripper_value

- **Prototype**: `set_gripper_value(value, speed)`

- **Description**: Set gripper value

- **Parameters**

  - `value` (int): 0 ~ 100
  - `speed` (int): 0 ~ 100

### set_gripper_ini

- **Prototype**: `set_gripper_ini()`

- **Description**: Set the current position to zero, set current position value is `2048`.

### is_gripper_moving

- **Prototype**: `is_gripper_moving()`

- **Description**: Judge whether the gripper is moving or not

- **Returns**

  - `0` : not moving
  - `1` : is moving
  - `-1`: error data

## Basic

### get_basic_input

- **Prototype**: `get_basic_input(pin_no)`

- **Description**: Get bottom pin.

- **Parameters**

  - `pin_no` (`int`) Pin number.

- **Return**: `pin_signal` (`int`) 0 / 1

### set_basic_output

- **Prototype**: `set_basic_output(pin_no, pin_signal)`

- **Description**: Set bottom pin.

- **Parameters**

  - `pin_no` (`int`) Pin number.
  - `pin_signal` (`int`): 0 / 1

### set_ssid_pwd

- **Prototype**: `set_ssid_pwd(account, password)`

- **Description**: Change connected wifi.(Apply to m5 or seeed)

- **Parameters**

  - `account` (`str`) new wifi account.
  - `password` (`str`): new wifi password.

### get_ssid_pwd

- **Prototype**: `get_ssid_pwd()`

- **Description**: Get connected wifi account and password.(Apply to m5 or seeed)

- **Return**: `(account, password)`.

### set_server_port

- **Prototype**: `set_server_port(port)`

- **Description**: Change the connection port of the server.

- **Parameters**

  - `port` (`int`) The new connection port of the server.

### get_tof_distance

- **Prototype**: `get_tof_distance()`

- **Description**: Get the detected distance (Requires external distance detector).

- **Return**: `int` The unit is mm.

## Raspberry pi -- GPIO

### gpio_init

- **Prototype**: `gpio_init()`

- **Description**: Init GPIO module, and set BCM mode.

### gpio_output

- **Prototype**: `gpio_output(pin, v)`

- **Description**: Set GPIO port output value.

- **Parameters**

  - `pin` (`int`) Pin number.
  - `v` (`int`): 0 / 1

# Angle

```python
from pymycobot import Angle
```

**Description**

Instance class of joint. It's recommended to use this class to select joint.

# Coord

```python
from pymycobot import Coord
```

**Description**

Instance class of coord. It's recommended to use this class to select coord.

# utils (Module)

This module support some help method.

**Usage:**

```python
from pymycobot import utils
```

## get_port_list

- **Prototype**: `get_port_list()`

- **Description**: Get the all serial port list.

- **Return**: serial port list (`list`)

## detect_port_of_basic

- **Prototype**: `detect_port_of_basic()`

- **Description**: Returns the serial port string of the first detected M5 Basic. If it is not found, it returns `None`.

- **Return**: detected port (`str`) or `None`

- **Example**:

  ```python
  from pymycobot import MyCobot, utils

  port = utils.detect_port_of_basic()
  if port is None:
   raise Exception('Detection failed.')
  mycobot = MyCobot(port, 115200)
  ```

## MyCobotSocket

> Note:
> Only supports python3
> The robotic arm that uses this class of premise has a server and has been turned on.

Use TCP/IP to control the robotic arm

### Client

```python
# demo
from pymycobot import MyCobotSocket
# Port 9000 is used by default
mc = MyCobotSocket("192.168.10.10","9000")

mc.connect("/dev/ttyAMA0","1000000")

res = mc.get_angles()
print(res)

mc.send_angles([0,0,0,0,0,0],20)
...

```

### Server

Server file is in the demo folder


## socket control

> Note:
> Most of the methods are the same as the class mycobot, only the new methods are listed here.

### connect

- **Prototype**: `connect(serialport, baudrate, timeout)`

- **Description**: Connect the robot arm through the serial port and baud rate

- **Parameters**

  - `serialport`: (`str`) default `/dev/ttyAMA0`.
  - `baudrate`: default `1000000`.
  - `timeout`: default `0.1`.

### set_gpio_mode

- **Prototype**: `set_gpio_mode(mode)`

- **Description**: Set pin coding method.

- **Parameters**

  - `mode` (`str`) "BCM" or "BOARD".

### set_gpio_out

- **Prototype**: `set_gpio_out(pin_no, mode)`

- **Description**: Set the pin as input or output.

- **Parameters**

  - `pin_no` (`int`) pin id.
  - `mode` (`str`) "in" or "out"

### set_gpio_output

- **Prototype**: `set_gpio_output(pin_no, state)`

- **Description**: Set the pin to high or low level.

- **Parameters**

  - `pin_no` (`int`) pin id.
  - `state` (`int`) 0 or 1

### get_gpio_in

- **Prototype**: `get_gpio_in(pin_no)`

- **Description**: Get pin level status.

- **Parameters**

  - `pin_no` (`int`) pin id.


```python
# Set up the demo of the suction pump
import time
from pymycobot import MyCobotSocket
# connect server
m = MyCobotSocket("192.168.10.10", '9000')
# default serialport:/dev/ttyAMA0 Baudrate:1000000
m.connect()

m.set_gpio_mode("BCM")
m.set_gpio_out(20, "out")
m.set_gpio_out(21, "out")
# open
m.set_gpio_output(20, 0)
m.set_gpio_output(21, 0)
time.sleep(3)
# close
m.set_gpio_output(20, 1)
m.set_gpio_output(21, 1)

```

---
More demo can go to [here](../demo).


