Read data

API Overview

APIs related to reading robotic arm data are as follows

get_angles()

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

Parameter explanation:

• Return value: Returns six joint angle values.

get_coords()

Function: Read the current position coordinate value of the robotic arm.

Parameter explanation:

• Return value: Returns the current position coordinate value of the robotic arm

get_encoders()

Function: Read the potential values of the six joints of the robotic arm

Parameter explanation:

• Return value: Return the potential values of the six joints of the robotic arm.

get_radians()

Function: Read the arc values of the six joints of the robotic arm.

Parameter explanation:

• Return value: Returns the radian values of the six joints of the robotic arm.

get_gripper_value()

Function: Read the angle value of the robotic arm gripper.

Parameter explanation:

• Return value: Returns the angle value of the robotic arm gripper.

2. About code

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

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

Initialize the robotic arm object.

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

Read and print the angles of the six joints of the robotic arm.

xxxxxxxxxx
angles = mc.get_angles()
print("read angles:", angles)

Read and print the coordinates of the robotic arm.

xxxxxxxxxx
coords = mc.get_coords()
print("read coords:", coords)

Read and print the potential value of the robotic arm.

xxxxxxxxxx
encoders = mc.get_encoders()
print("encoders:", encoders)

Read and print the arc value of the robotic arm.

xxxxxxxxxx
radians = mc.get_radians()
print("read radians:", radians)

Read and print the gripper angle of the robotic arm.

xxxxxxxxxx
gripper = mc.get_gripper_value()
print("gripper:", gripper)

3.Run program

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