Metadata-Version: 2.1
Name: pymycobot
Version: 2.3.3
Summary: Python API for serial communication of MyCobot.
Home-page: https://github.com/elephantrobotics/pymycobot
Author: Zachary Zhang
Author-email: lijun.zhang@elephantrobotics.com
License: UNKNOWN
Description: # pymycobot
        
        **This is python API for mycobot.**
        
        We support Python2, Python3.5 or later.
        
        <!--If you want to use the api, make sure `pyserial` is installed.-->
        
        <!--```bash-->
        <!--pip2 install pyserial-->
        <!--# or-->
        <!--pip3 install pyserial-->
        <!--```-->
        
        **Class**:
        
        - [MyCobot](#MyCobot)
          - [Overall status](#Overall-status)
          - [MDI mode and operation](#MDI-mode-and-operation)
          - [JOG mode and operation](#JOG-mode-and-operation)
          - [Running status and Settings](#Running-status-and-Settings)
          - [Servo control](#Servo-control)
          - [Atom IO](#Atom-IO)
        - [Angle](#Angle)
        - [Coord](#Coord)
        
        # MyCobot
        
        ```python
        from pymycobot.mycobot import MyCobot
        ```
        
        ## Overall status
        
        ### power_on()
        
        - **Description**
        
          Robot arm power up.
        
        ### power_off()
        
        - **Description**
        
          Robot arm power down.
        
        ### is_power_on()
        
        - **Description**
        
          Adjust robot arm whether power on.
        
        - **Returns**
        
          - `1`: power on
          - `0`: power off
          - `-1`: error
        
        ### set_free_mode()
        
        - **Description**
        
          Robot arm into free moving mode.
        
        ## MDI mode and operation
        
        ### get_angles()
        
        - **Description**
        
          Get the degree of all joints.
        
        - **Returns**
        
          `list`: A float list of degree.
        
        ### send_angle()
        
        - **Description**
        
          Send one degree of joint to robot arm.
        
        - **Parameters**
        
          id: Joint id(`genre.Angle`)
        
          degree: degree value(`float`)
        
          speed: (`int`)
        
        - **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()
        
        - **Description**
        
          Send the degrees of all joints to robot arm.
        
        - **Parameters**
        
          degrees: a list of degree value(`List[float]`)
        
          speed: (`int`)
        
        - **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()
        
        - **Description**
        
          Get the radians of all joints.
        
        - **Returns**
        
          `list`: A float list of radian.
        
        ### send_radians()
        
        - **Description**
        
          Send the radians of all joint to robot arm.
        
        - **Parameters**
        
          degrees: a list of radian value(`List[float]`)
        
          speed: (`int`)
        
        - **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()
        
        - **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()
        
        - **Description**
        
          Send one coord to robot arm.
        
        - **Parameters**
        
          id: coord id(`genre.Coord`)
        
          coord: coord value(`float`)
        
          speed: (`int`)
        
        - **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()
        
        - **Description**
        
          Send all coords to robot arm.
        
        - **Parameters**
        
          coords: a list of coords value(`List[float]`)
        
          speed: (`int`)
        
          mode: (`int`): `0` - angluar, `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)
          ```
        
        ### pause()
        
        - **Description**
        
          Pause movement.
        
        ### resume()
        
        - **Description**
        
          Recovery movement.
        
        ### stop()
        
        - **Description**
        
          Stop moving.
        
        ### is_paused()
        
        - **Description**
        
          Judge whether the manipulator pauses or not.
        
        - **Returns**
        
          `bool`:
        
          - `1` - paused
          - `0` - not paused
          - `-1` - error
        
        ### is_in_position()
        
        - **Description**
        
          Judge whether in the position.
        
        - **Returns**
        
          `bool`:
        
          - `1` - true
          - `0` - false
          - `-1` - error
        
        ### is_moving()
        
        - **Description**
        
          Judge whether the manipulator is moving or not.
        
        - **Returns**
        
          `bool`: `True` - moving, `False` - not moving.
        
        ## JOG mode and operation
        
        ### jog_angle()
        
        - **Description**
        
          Jog control angle
        
        - **Parameters**
        
          joint id: (`int`) 1 ~ 6
        
        ### jog_coord()
        
        - **Description**
        
          Jog control coord.
        
        - **Parameters**
        
          coord id: (`int`) 1 ~ 6
        
        ### jog_stop()
        
        - **Description**
        
          Stop jog move.
        
        ## Running status and Settings
        
        ### get_speed()
        
        - **Description**
        
          Get speed.
        
        - **Returns**
        
          speed: (`int`)
        
        ### set_speed()
        
        - **Description**
        
          Set speed.
        
        - **Parameters**
        
          speed: (`int`) 0 ~ 100
        
        ### get_joint_min_angle()
        
        - **Description**
        
          Gets the minimum movement angle of the specified joint
        
        - **Parameters**
        
          joint id: (`int`)
        
        - **Returns**
        
          angle: (`float`)
        
        ### get_joint_max_angle()
        
        - **Description**
        
          Gets the maximum movement angle of the specified joint
        
        - **Parameters**
        
          joint id: (`int`)
        
        - **Returns**
        
          angle: (`float`)
        
        ## Servo control
        
        ### is_servo_enable()
        
        - **Description**
        
          Determine whether all steering gears are connected
        
        - **Parameters**
        
          servo id: (`int`)
        
        - **Returns**
        
          flag: (`int`)
        
          - `0`: disable
          - `1`: enbale
          - `-1`: error
        
        ### is_all_servo_enable()
        
        - **Description**
        
          Determine whether the specified steering gear is connected
        
        - **Returns**
        
          flag: (`int`)
        
          - `0`: disable
          - `1`: enbale
          - `-1`: error
        
        ### release_servo()
        
        - **Description**
        
          Power on designated servo
        
        - **Parameters**
        
          servo_id: 1 ~ 6
        
        ### focus_servo()
        
        - **Description**
        
          Power off designated servo
        
        - **Parameters**
        
          servo_id: 1 ~ 6
        
        ## Atom IO
        
        ### set_led_color()
        
        - **Description**
        
          Set the color of the light on the top of the robot arm.
        
        - **Parameters**
        
          rgb: (`string`) like: "FF0000"
        
        ### set_pin_mode()
        
        - **Parameters**
        
          pin_no (int):
          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()
        
        - **Description**
        
        - **Parameters**
        
        ### set_pwm_mode()
        
        - **Description**
        
        - **Parameters**
        
        ### set_pwm_output()
        
        - **Description**
        
        - **Parameters**
        
        ### get_gripper_value()
        
        - **Description**
        
          Get gripper value
        
        ### set_gripper_state()
        
        - **Description**
        
          Set gripper switch
        
        - **Parameters**
        
          flag (`int`): 0 - open, 1 - close
        
          speed (`int`): 0 ~ 100
        
        ### set_gripper_value()
        
        - **Description**
        
          Set gripper value
        
        - **Parameters**
        
          value (int): 0 ~ 496
        
          speed (int): 0 ~ 100
        
        ### set_gripper_ini()
        
        - **Description**
        
          Set the current position to zero
        
          Current position value is `248`.
        
        ### is_gripper_moving()
        
        - **Description**
        
          Judge whether the gripper is moving or not
        
        - Returns
        
          - `0` : not moving
          - `1` : is moving
          - `-1`: error data
        
        # Angle
        
        ```python
        from pymycobot.genre import Angle
        ```
        
        **Description**
        
        Instance class of joint. It's recommended to use this class to select joint.
        
        # Coord
        
        ```python
        from pymycobot.genre import Coord
        ```
        
        **Description**
        
        Instance class of coord. It's recommended to use this class to select coord.
        
        ---
        
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
