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Send data

1. API Introduction​

Robot object initialization

mc = MyCobot("/dev/ttyUSB0", 1000000)

Among them, the first parameter ["/dev/ttyUSB0"] is the control serial port device number, which can be modified according to actual conditions. The second parameter [1000000] is the serial port communication baud rate, which cannot be changed.

The API related to controlling the robotic arm is:

send_angle(id, degree, speed)

Function: Control the angle of a joint of the robot arm.

Parameter explanation:

  • 【id】：The input range of id is 1~6, corresponding to the joints of the robotic arm from bottom to top.
  • 【degree】：Servo angle value. Each servo angle range is different, please check the list below. Servo IDMin valueMax value1-168°168°2-135°135°3-150°150°4-145°145°5-165°165°6-180°180°
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

send_angles(degrees, speed)

Function: Control the angles of the six joints of the robotic arm.

Parameter explanation:

  • 【degrees】：A list of six joint angles, for example degrees = [0.43, -0.52, 0.17, -1.14, -0.35, -45.08].
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

send_coord(id, coord, speed)

Function: Control the robotic arm to move toward a certain axis.

Parameter explanation:

  • 【id】：The input range of id is 1~3, corresponding to the robotic arm coordinate axis, 1: X axis, 2: Y axis, 3: Z axis.
  • 【coord】：Robotic arm coordinate parameters, please refer to the table below for input range. CoordinateMin valueMax valuex-281 mm281 mmy-281 mm281 mmz-70 mm412 mm
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.

send_coords(coords, speed)

Function: Control the robotic arm to move toward a certain coordinate.

Parameter explanation:

  • 【coords】：Robotic arm coordinate parameters [x, y, z, rx, ry, rz]. The three parameters x, y, z represent the coordinates of the end of the robotic arm, and rx, ry, rz represent the orientation of the gripper.
CoordinateMin valueMax value
x-281 mm281 mm
y-281 mm281 mm
z-70 mm412 mm
rx-180°180°
ry-180°180°
rz-180°180°
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

set_encoder(id, encoder, speed)

Function: Control the potential value of a joint of the robotic arm.

Parameter explanation:

  • 【id】：The input range of id is 1~6, corresponding to the joints of the robot from bottom to top.
  • 【encoder】：Servo potential value, the value range is: 0~4096.
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

set_encoders(encoders, speed)

Function: Control the potential values of the six joints of the robot.

Parameter explanation:

  • 【encoders】：List of robot arm joint potential values, e.g. encoders = [2048, 2048, 2048, 2048, 2048, 2048]。
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

send_radians(radians, speed)

Function: Control the arc value of the six joints of the robotic arm.

Parameter explanation:

  • 【radians】：List of robot arm joint arc values, e.g. radians = [0.008, -0.009, 0.003, -0.02, -0.006, -0.787]。
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

set_gripper_value(gripper, speed)

Function: Control the release and clamping of the robotic arm gripper.

Parameter explanation:

  • 【gripper】：The value of the robotic arm joint gripper is in the range of 0~100. 100 means the gripper is opened to the maximum angle.
  • 【speed】：Control the running speed, the range is [1-100]. The larger the value, the faster the movement.
  • Return value: None.

2.About code​

Code path: ~/jetcobot_ws/src/jetcobot_ctrl/scripts/send_data.ipynb

#!/usr/bin/env python3
#coding=utf-8
import os
import time
from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle
from pymycobot.genre import Coord

Initialize the robot object

mc = MyCobot(str(os.getenv('MY_SERIAL')), 1000000)
speed = 50

Control joint 1° to 90°

id = Angle.J1.value
degree = 90
mc.send_angle(id, degree, speed)

Control the angles of the six joints of the robotic arm

degrees = [0.43, -0.52, 0.17, -1.14, -0.35, -45.08]
mc.send_angles(degrees, speed)

Control the Z-axis coordinate of the robotic arm.

Note: If the current robot arm posture coordinate is unreachable, the setting fails and the robot arm will not move.

id = Coord.Z.value
coord = 350
mc.send_coord(id, coord, speed)

Control the robot arm to move to a specific coordinate point.

Note: If the given coordinate is unreachable, the setting fails and the robotic arm will not move.

coords = [49.6, -63.3, 419, -92.11, -45.07, -88.41]
mc.send_coords(coords, speed)

Controls the potential value of the robotic arm.

It is rarely used in general.

id = Angle.J1.value
encoder = 1500
mc.set_encoder(id, encoder, speed)
encoders = [2048, 2048, 2048, 2048, 2048, 2048]
mc.set_encoders(encoders, speed)

Controls the arc value of the robotic arm.

radians = [0.008, -0.009, 0.003, -0.02, -0.006, -0.787]
mc.send_radians(radians, speed)

Controls the gripper angle of the robotic arm.

gripper = 100
mc.set_gripper_value(gripper, speed)

3. Run program​

Click the run button on jupyterlab to run the relevant programs.

image-20240701162416069