myCobot API

1 Prerequisite for controlling the robotic arm

1.1 MyCobot (string port, int baud=115200)

Function: Instantiate MyCobot Return value: None Parameter Description: Parameter 1: Serial Port Number ("COM *" on Windows (such as COM30) Parameter 2: Baud Rate (default is 115200) Note: If you want to call the following API, you need to first instantiate

1.2 Open() Function: Open serial port Return value: None Parameter Description: None Attention: To communicate with the robotic arm, you need to first open the serial port

1.3 Close() Function: Close serial port Return value: None Parameter Description: None Note: It is best to close the serial port at the end of the program

Overall Status of 2 Robots

2.1 PowerOn(); Function: Power on the robotic arm Return value: None Parameter Description: None Note: After powering on the robotic arm, it will not be possible to manually move the arm 2.2 PowerOff() Function: The robotic arm loses power Return value: None Parameter Description: None Attention: After powering on the robotic arm, if you want to manually move it, you can use this API to make the robotic arm lose power

3 Input Program Control Mode MDI Mode and Robot Control (Manual Data Input)

3.1 SendOneAngle(int jointNo, int angle, int speed) Function: Send single joint angle Return value: None Parameter Description: Parameter 1: Joint Number (1-6), Parameter 2: Angle (Range: -170 ° -170 °), Parameter 3: Speed (0-100) Use case: Click to view。

3.2 GetAngles() Function: Obtain all joint angles Return value: Returns an int type array, int [], length: 6 Parameter Description: None Use case: Click to view。

3.3 SendAngles (int [] angles, int speed) Function description: Send all joint angles Return value: None Parameter Description: Parameter 1: All joint angles (range: -170 ° -170 °), Parameter 2: Speed (0-100) Use case: Click to view。

3.4 GetCoords() Function: Obtain all coordinates Return value: Returns an int type array, int [], length: 6 Parameter Description: None Use case: Click to view。

3.5 SendCoords(int[] coords, int speed, int mode) Function: Send multi parameter coordinates Return value: None Parameter Description: Parameter 1: All coordinates (X, Y, and Z values range from -300 to 300.00 units in mm RX, RY, RZ, value range -180), Parameter 2: Speed (0 to 100), Parameter 3: Mode (0- angular, 1- linear) Use case: Click to view。

3.6 SendOneCoord(int coord, int value, int speed) Function: Send single parameter coordinates Return value: None Parameter Description: Parameter 1: Coordinate Number (1-6 (x, y, z, rx, ry, rz)), Parameter 2: Coordinate (X, Y, Z value range -300-300.00 units mm RX, RY, RZ, value range -180-180), Parameter 3: Speed (0-100) Use case: Click to view

4 Atom End IO control Atom IO Control

4.1 SetDigitalOut(byte pin_number, byte pin_signal) Function: Set the high and low levels of output IO Return value: None Parameter Description: Parameter 1: Pin Number (Atom Output Pin Number), Parameter 2: State (0- Low Level, 1- High Level) Use case: Click to view

4.2 GetDigitalIn(byte pin_number) Function: Get input IO status Return value: Pin status (0- low level, 1- high level) Parameter Description: Pin Number (Atom Input Pin Number) Use case: Click to view

4.3 SetGripperMode(byte mode) Function: Set Gripper Mode Return value: None Parameter Description: Parameter 1: mode:1-transparent mode, 0-IO mode

4.4 setGripperValue(byte angle, byte speed) Function: Control adaptive gripper Return value: None Parameter Description: Parameter 1: Claw opening and closing angle (0-100, 0- closed, 100- maximum opening angle), Parameter 2: Claw opening and closing speed (0-100) Use case: Click to view

4.5 SetElectricGriper (byte open) Function: Control electric gripper Return value: None Parameter description: Claw switch status (0- off, 1- on)

4.6 getGripperValue () Function: Obtain adaptive gripper angle Return value: int type, returns the gripper angle (0- closed, 100- maximum open angle) Parameter Description: None Use case: Click to view

5 Base M5Stack basicIO control M5Stack-basic IO Control

5.1 SetBasicOut(byte pin_number, byte pin_signal) Function: Set the high and low levels of output IO Return value: None Parameter Description: Parameter 1: Pin Number (Basic Output Pin Number), Parameter 2: State (0- Low Level, 1- High Level) Use case: Click to view

5.2 GetBasicIn(byte pin_number) Function: Get input IO status Return value: Pin status (0- low level, 1- high level) Parameter Description: Pin Number (Basic Input Pin Number) Use case: Click to view