pymycobot


Namepymycobot JSON
Version 3.9.1 PyPI version JSON
download
home_pagehttps://github.com/elephantrobotics/pymycobot
SummaryPython API for serial communication of MyCobot.
upload_time2025-03-04 07:37:28
maintainerNone
docs_urlNone
authorElephantrobotics
requires_python!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7
licenseNone
keywords
VCS
bugtrack_url
requirements pyserial python-can pytest flake8 opencv-python numpy crc
Travis-CI No Travis.
coveralls test coverage No coveralls. 
            # This is Python API for ElephantRobotics product

![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:

```bash
# Install
pip install .
# Uninstall
pip uninstall .
```

## Usage:

```python
# for mycobot 280 machine
from pymycobot import MyCobot280  
from pymycobot import MyCobot280Socket
# for mycobot 320 machine
from pymycobot import MyCobot320
from pymycobot import MyCobot320Socket  
# for mecharm 270 machine
from pymycobot import MechArm270  
from pymycobot import MechArmSocket  
# for mypalletizer 260 machine
from pymycobot import MyPalletizer260  
from pymycobot import MyPalletizerSocket
```

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).


> Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document: 

![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)   ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)

[MyCobot 280 API说明](./docs/MyCobot_280_zh.md) | [MyCobot 280 API Description](./docs/MyCobot_280_en.md)

[MyCobot 320 API说明](./docs/MyCobot_320_zh.md) | [MyCobot 320 API Description](./docs/MyCobot_320_en.md)

[MechArm 270 API说明](./docs/MechArm_270_zh.md) | [MechArm 270 API Description](./docs/MechArm_270_en.md)

[MyPalletizer 260 API说明](./docs/MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./docs/MyPalletizer_260_en.md)

[myAGV API说明](./docs/myAGV_zh.md) | [myAGV API Description](./docs/myAGV_en.md)

[myArm_M&C API说明](./docs/myArm_M&C_zh.md) | [myArm_M&C API Description](./docs/myArm_M&C_en.md)

[ultraArm P340 API说明](./docs/ultraArm_P340_zh.md) | [ultraArm P340 API Description](./docs/ultraArm_P340_en.md)# pymycobot

**This is python API for ElephantRobotics product**

We support Python2, Python3.5 or later.

![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)   ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)

[MyCobot 280 API说明](./MyCobot_280_zh.md) | [MyCobot 280 API Description](./MyCobot_280_en.md)

[MyCobot 320 API说明](./MyCobot_320_zh.md) | [MyCobot 320 API Description](./MyCobot_320_en.md)

[MechArm 270 API说明](./MechArm_270_zh.md) | [MechArm 270 API Description](./MechArm_270_en.md)

[MyPalletizer 260 API说明](./MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./MyPalletizer_260_en.md)

[myAGV API说明](./myAGV_zh.md) | [myAGV API Description](./myAGV_en.md)

[myArm_M&C API说明](./myArm_M&C_zh.md) | [myArm_M&C API Description](./myArm_M&C_en.md)

[ultraArm P340 API说明](./ultraArm_P340_zh.md) | [ultraArm P340 API Description](./ultraArm_P340_en.md)

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

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

- [pymycobot](#pymycobot)
- [MyBuddy](#mybuddy)
    - [base\_to\_single\_coords(base\_coords, arm)](#base_to_single_coordsbase_coords-arm)
    - [collision(left\_angles, right\_angles)](#collisionleft_angles-right_angles)
    - [collision\_switch(state)](#collision_switchstate)
    - [focus\_servo(id, servo\_id)](#focus_servoid-servo_id)
    - [get\_acceleration(id)](#get_accelerationid)
    - [get\_angle(id, joint\_id)](#get_angleid-joint_id)
    - [get\_angles(id)](#get_anglesid)
    - [get\_base\_coord(id)](#get_base_coordid)
    - [get\_base\_coords(\*args: int)](#get_base_coordsargs-int)
    - [get\_coord(id, joint\_id)](#get_coordid-joint_id)
    - [get\_coords(id)](#get_coordsid)
    - [get\_digital\_input(id, pin\_no)](#get_digital_inputid-pin_no)
    - [get\_encoder(id, joint\_id)](#get_encoderid-joint_id)
    - [get\_encoders(id)](#get_encodersid)
    - [get\_end\_type(id)](#get_end_typeid)
    - [get\_gripper\_value(id)](#get_gripper_valueid)
    - [get\_joint\_current(id, joint\_id)](#get_joint_currentid-joint_id)
    - [get\_joint\_max\_angle(id, joint\_id)](#get_joint_max_angleid-joint_id)
    - [get\_joint\_min\_angle(id, joint\_id)](#get_joint_min_angleid-joint_id)
    - [get\_movement\_type(id)](#get_movement_typeid)
    - [get\_plan\_acceleration(id=0)](#get_plan_accelerationid0)
    - [get\_plan\_speed(id=0)](#get_plan_speedid0)
    - [get\_reference\_frame(id)](#get_reference_frameid)
    - [get\_robot\_id(id)](#get_robot_idid)
    - [get\_robot\_version(id)](#get_robot_versionid)
    - [get\_servo\_currents(id)](#get_servo_currentsid)
    - [get\_servo\_data(id, servo\_no, data\_id)](#get_servo_dataid-servo_no-data_id)
    - [get\_servo\_status(id)](#get_servo_statusid)
    - [get\_servo\_spees(id)](#get_servo_speesid)
    - [get\_servo\_temps(id)](#get_servo_tempsid)
    - [get\_servo\_voltages(id)](#get_servo_voltagesid)
    - [get\_speed(id)](#get_speedid)
    - [get\_system\_version(id)](#get_system_versionid)
    - [get\_tool\_reference(id)](#get_tool_referenceid)
    - [get\_world\_reference(id)](#get_world_referenceid)
    - [is\_all\_servo\_enable(id)](#is_all_servo_enableid)
    - [is\_collision\_on()](#is_collision_on)
    - [is\_controller\_connected(id=0)](#is_controller_connectedid0)
    - [is\_free\_mode(id)](#is_free_modeid)
    - [is\_gripper\_moving(id)](#is_gripper_movingid)
    - [is\_in\_position(id, data, mode)](#is_in_positionid-data-mode)
    - [is\_moving(id)](#is_movingid)
    - [is\_paused(id)](#is_pausedid)
    - [is\_power\_on(id=0)](#is_power_onid0)
    - [is\_servo\_enable(id, servo\_id)](#is_servo_enableid-servo_id)
    - [jog\_absolute(id, joint\_id, angle, speed)](#jog_absoluteid-joint_id-angle-speed)
    - [jog\_angle(id, joint\_id, direction, speed)](#jog_angleid-joint_id-direction-speed)
    - [jog\_coord(id, coord\_id, direction, speed)](#jog_coordid-coord_id-direction-speed)
    - [jog\_inc\_coord(axis, increment, speed)](#jog_inc_coordaxis-increment-speed)
    - [jog\_increment(id, joint\_id, increment, speed)](#jog_incrementid-joint_id-increment-speed)
    - [jog\_stop(id)](#jog_stopid)
    - [joint\_brake(id, joint\_id)](#joint_brakeid-joint_id)
    - [pause(id)](#pauseid)
    - [power\_off(id=0)](#power_offid0)
    - [power\_on(id=0)](#power_onid0)
    - [read\_next\_error(id=0)](#read_next_errorid0)
    - [release\_all\_servos(id=0)](#release_all_servosid0)
    - [release\_servo(id, servo\_id)](#release_servoid-servo_id)
    - [resume(id)](#resumeid)
    - [send\_angle(id, joint, angle, speed)](#send_angleid-joint-angle-speed)
    - [send\_angles(id, degrees, speed)](#send_anglesid-degrees-speed)
    - [send\_coord(id, coord, data, speed)](#send_coordid-coord-data-speed)
    - [send\_coords(id, coords, speed, mode)](#send_coordsid-coords-speed-mode)
    - [set\_acceleration(id, acc)](#set_accelerationid-acc)
    - [set\_color(id, r=0, g=0, b=0)](#set_colorid-r0-g0-b0)
    - [set\_digital\_output(id, pin\_no, pin\_signal)](#set_digital_outputid-pin_no-pin_signal)
    - [set\_encoder(id, joint\_id, encoder, speed)](#set_encoderid-joint_id-encoder-speed)
    - [set\_encoders(id, encoders, speed)](#set_encodersid-encoders-speed)
    - [set\_end\_type(id, end)](#set_end_typeid-end)
    - [set\_encoders\_drag(id, encoders, speeds)](#set_encoders_dragid-encoders-speeds)
    - [set\_free\_mode(id, value)](#set_free_modeid-value)
    - [set\_fresh\_mode(id, mode)](#set_fresh_modeid-mode)
    - [set\_gripper\_calibration(id)](#set_gripper_calibrationid)
    - [set\_gripper\_state(id, flag)](#set_gripper_stateid-flag)
    - [set\_gripper\_value(id, value, speed)](#set_gripper_valueid-value-speed)
    - [set\_joint\_current(id, joint\_id, current)](#set_joint_currentid-joint_id-current)
    - [set\_joint\_max(id, joint\_id, angle)](#set_joint_maxid-joint_id-angle)
    - [set\_joint\_min(id, joint\_id, angle)](#set_joint_minid-joint_id-angle)
    - [set\_movement\_type(id, move\_type)](#set_movement_typeid-move_type)
    - [set\_pin\_mode(id, pin\_no, pin\_mode)](#set_pin_modeid-pin_no-pin_mode)
    - [set\_plan\_acceleration(id, acceleration)](#set_plan_accelerationid-acceleration)
    - [set\_plan\_speed(id, speed)](#set_plan_speedid-speed)
    - [set\_pwm\_output()](#set_pwm_output)
    - [set\_reference\_frame(id, rftype)](#set_reference_frameid-rftype)
    - [set\_robot\_id(id, new\_id)](#set_robot_idid-new_id)
    - [set\_servo\_calibration(id, servo\_no)](#set_servo_calibrationid-servo_no)
    - [set\_servo\_data(id, servo\_no, data\_id, value)](#set_servo_dataid-servo_no-data_id-value)
    - [set\_speed(id, speed)](#set_speedid-speed)
    - [set\_tool\_reference(id, coords)](#set_tool_referenceid-coords)
    - [set\_world\_reference(id, coords)](#set_world_referenceid-coords)
    - [stop(id)](#stopid)
    - [write\_base\_coord(id, axis, coord, speed)](#write_base_coordid-axis-coord-speed)
    - [write\_base\_coords(id, coords, speed)](#write_base_coordsid-coords-speed)
    - [get\_radians(id)](#get_radiansid)
    - [send\_radians(id, radians, speed)](#send_radiansid-radians-speed)
    - [set\_gpio\_input(pin)](#set_gpio_inputpin)
    - [set\_gpio\_mode(pin\_no, mode)](#set_gpio_modepin_no-mode)
    - [set\_gpio\_output(pin, v)](#set_gpio_outputpin-v)
    - [set\_gpio\_pwm(pin, baud, dc)](#set_gpio_pwmpin-baud-dc)
- [MyBuddyEmoticon](#mybuddyemoticon)
  - [MyBuddyEmoticon(file\_path: list = \[\], window\_size: tuple = \[\], loop=False)](#mybuddyemoticonfile_path-list---window_size-tuple---loopfalse)
    - [add\_file\_path(path\_time: list)](#add_file_pathpath_time-list)
    - [del\_file\_path(index: int)](#del_file_pathindex-int)
    - [file\_path](#file_path)
    - [join()](#join)
    - [pause()](#pause)
    - [run()](#run)
    - [start()](#start)
  
<!-- vim-markdown-toc -->
</details>

# MyBuddy

### base_to_single_coords(base_coords, arm)

Convert base coordinates to coordinates

* **Parameters**

  * **coords** – a list of base coords value len 6

  * **arm** – 0 - left. 1 - right

* **Returns**

    coords

### collision(left_angles, right_angles)

Collision detection main program

* **Parameters**

  * **left_angles** – left arm angle len 6.

  * **right_angles** – right arm angle len 6.

* **Returns**

    int

### collision_switch(state)

Collision Detection Switch

* **Parameters**

    **state** (_int_) – 0 - close 1 - open (Off by default)

### focus_servo(id, servo_id)

Power on designated servo

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_id** – 1 - 6

### get_acceleration(id)

Read acceleration during all moves

* **Parameters**

    **id** – 1/2/3 (L/R/W)

### get_angle(id, joint_id)

Get the angle of a single joint

* **Parameters**

  * **id** (_int_) – 1/2/3 (L/R/W).

  * **joint_id** (_int_) – 1 - 7 (7 is gripper)

### get_angles(id)

Get the degree of all joints.

* **Parameters**

    **id** – 1/2 (L/R)

* **Returns**

    A float list of all degree.

* **Return type**

    list

### get_base_coord(id)

Get the base coordinates of the single arm

* **Parameters**

    **id** – 1/2 (L/R)

### get_base_coords(\*args: int)

Convert coordinates to base coordinates. Pass in parameters or no parameters

* **Parameters**

  * **coords** – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]

  * **arm** – 0 - left. 1 - right

* **Returns**

    Base coords

### get_coord(id, joint_id)

Read a single coordinate parameter

* **Parameters**

  * **id** (_int_) – 1/2/3 (L/R/W).

  * **joint_id** (_int_) – 1 - 7 (7 is gripper)

### get_coords(id)

Get the coordinates of the robotic arm

* **Parameters**

    **id** – 1/2 (L/R).

### get_digital_input(id, pin_no)

singal value

* **Parameters**

  * **id** – 1/2 (L/R)

  * **pin_no** (_int_) – 1 - 5

### get_encoder(id, joint_id)

Obtain the specified joint potential value.

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **joint_id** – (int) 1 ~ 6

* **Returns**

    0 ~ 4096

### get_encoders(id)

Get the six joints of the manipulator

* **Parameters**

    **id** – 1/2 (L/R).

* **Returns**

    The list of encoders

### get_end_type(id)

Get end coordinate system

* **Parameters**

    **id** – 0/1/2 (ALL/L/R)

* **Returns**

    0 - flange
    1 - tool

### get_gripper_value(id)

Get the value of gripper.

* **Parameters**

    **id** – 1/2 (L/R)

* **Returns**

    gripper value (int)

### get_joint_current(id, joint_id)

Get Collision Current

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **joint_id** – 1 - 6

### get_joint_max_angle(id, joint_id)

Gets the maximum movement angle of the specified joint

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint_id** – (int) 1 - 6

* **Returns**

    angle value(float)

### get_joint_min_angle(id, joint_id)

Gets the minimum movement angle of the specified joint

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint_id** – (int) 1 - 6

* **Returns**

    angle value(float)

### get_movement_type(id)

Get movement type

* **Parameters**

    **id** – 0/1/2 (ALL/L/R)

* **Returns**

    1 - movel
    0 - moveJ

### get_plan_acceleration(id=0)

Get planning acceleration

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

* **Returns**

    [movel planning acceleration, movej planning acceleration].

### get_plan_speed(id=0)

Get planning speed

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

* **Returns**

    [movel planning speed, movej planning speed].

### get_reference_frame(id)

Get the base coordinate system

* **Parameters**

    **id** – 0/1/2 (ALL/L/R)

* **Returns**

    0 - base 1 - tool.

### get_robot_id(id)

Detect this robot id

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### get_robot_version(id)

Get cobot version

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### get_servo_currents(id)

Get joint current

* **Parameters**

    **id** – 1/2/3 (L/R/W)

* **Returns**

    value mA

### get_servo_data(id, servo_no, data_id)

Read the data parameter of the specified address of the steering gear.

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_no** – Serial number of articulated steering gear, 1 - 6.

  * **data_id** – Data address.

* **Returns**

    values (0 - 4096)
    0 - disable
    1 - enable
    -1 - error

### get_servo_status(id)

Get joint status

* **Parameters**

    **id** – 1/2/3 (L/R/W)

* **Returns**

    [voltage, sensor, temperature, current, angle, overload], a value of 0 means no error

### get_servo_spees(id)

Get joint speed

* **Parameters**

    **id** – 1/2/ (L/R)

* **Returns**

    list len 6

### get_servo_temps(id)

Get joint temperature

* **Parameters**

    **id** – 1/2/3 (L/R/W)

### get_servo_voltages(id)

Get joint voltages

* **Parameters**

    **id** – 1/2/3 (L/R/W)

* **Returns**

    volts < 24 V

### get_speed(id)

Get speed

* **Parameters**

    **id** – 1/2/3 (L/R/W).

* **Returns**

    speed

* **Return type**

    int

### get_system_version(id)

Get cobot version

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### get_tool_reference(id)

Get tool coordinate system

* **Parameters**

    **id** – 0/1/2 (ALL/L/R)

### get_world_reference(id)

Get the world coordinate system

* **Parameters**

    **id** – 0/1/2 (ALL/L/R)

### is_all_servo_enable(id)

Determine whether the specified steering gear is connected

* **Parameters**

    **id** – 1/2/3 (L/R/W)

* **Returns**

    0 - disable
    1 - enable
    -1 - error

### is_collision_on()

Get collision detection status

### is_controller_connected(id=0)

Wether connected with Atom.

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### is_free_mode(id)

Check if it is free mode

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

* **Returns**

    0/1

### is_gripper_moving(id)

Judge whether the gripper is moving or not

* **Parameters**

    **id** – 1/2 (L/R)

* **Returns**

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

### is_in_position(id, data, mode)

Judge whether in the position.

* **Parameters**

  * **id** – 0/1/2/3 (ALL/L/R/W).

  * **data** – A data list, angles or coords. If id is 1/2. data length is 6. If id is 0. data len 13. if id is 3. data len 1

  * **mode** – 1 - coords, 0 - angles

* **Returns**

    1 - True
    0 - False
    -1 - Error

### is_moving(id)

Detect if the robot is moving

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W).

* **Returns**

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

### is_paused(id)

Judge whether the manipulator pauses or not.

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W).

* **Returns**

    1 - paused
    0 - not paused
    -1 - error

### is_power_on(id=0)

Adjust robot arm status

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

* **Returns**

    1 - power on
    0 - power off
    -1 - error data

### is_servo_enable(id, servo_id)

Determine whether all steering gears are connected

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_id** – (int) 1 ~ 6

* **Returns**

    0 - disable
    1 - enable
    -1 - error

### jog_absolute(id, joint_id, angle, speed)

Absolute joint control

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **joint_id** – int 1-6.

  * **angle** – int

  * **speed** – int (0 - 100)

### jog_angle(id, joint_id, direction, speed)

Jog control angle.

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **joint_id** – int 1-6.

  * **direction** – 0 - decrease, 1 - increase

  * **speed** – int (0 - 100)

### jog_coord(id, coord_id, direction, speed)

Jog control coord.

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **coord_id** – int 1-6 (x/y/z/rx/ry/rz).

  * **direction** – 0 - decrease, 1 - increase

  * **speed** – int (0 - 100)

### jog_inc_coord(axis, increment, speed)

Double-arm coordinated coordinate stepping

* **Parameters**

  * **axis** – 1 - 6 (x/y/z/rx/ry/rz)

  * **increment** –

  * **speed** – 1 - 100

### jog_increment(id, joint_id, increment, speed)

step mode

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **joint_id** – int 1-6.

  * **increment** –

  * **speed** – int (1 - 100)

### jog_stop(id)

Stop jog moving

* **Parameters**

    **id** – 1/2/3 (L/R/W).

### joint_brake(id, joint_id)

Make it stop when the joint is in motion, and the buffer distance is positively related to the existing speed

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint_id** – 1 - 6

### pause(id)

Pause movement

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W).

### power_off(id=0)

Close communication with Atom.

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### power_on(id=0)

Open communication with Atom.

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### read_next_error(id=0)

Robot Error Detection

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### release_all_servos(id=0)

Robot turns off torque output

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W)

### release_servo(id, servo_id)

Power off designated servo

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_id** – 1 - 6.

### resume(id)

Recovery movement

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W).

### send_angle(id, joint, angle, speed)

Send one degree of joint to robot arm.

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint** – 1 ~ 6

  * **angle** – int

  * **speed** – 1 ~ 100

### send_angles(id, degrees, speed)

Send all angles to the robotic arm

* **Parameters**

  * **id** – 1/2 (L/R).

  * **degrees** – [angle_list] len 6

  * **speed** – 1 - 100

### send_coord(id, coord, data, speed)

Send a single coordinate to the robotic arm

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **coord** – 1 ~ 6 (x/y/z/rx/ry/rz)

  * **data** – Coordinate value

  * **speed** – 0 ~ 100

### send_coords(id, coords, speed, mode)

Send all coords to robot arm.

* **Parameters**

  * **id** – 1/2 (L/R).

  * **coords** – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]

  * **speed** – (int) 0 ~ 100

  * **mode** – (int) 0 - moveJ, 1 - moveL, 2 - moveC

### set_acceleration(id, acc)

Read acceleration during all moves

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **acc** – 1 - 100

### set_color(id, r=0, g=0, b=0)

Set the light color on the top of the robot arm.

* **Parameters**

  * **id** – 1/2 (L/R)

  * **r** (_int_) – 0 ~ 255

  * **g** (_int_) – 0 ~ 255

  * **b** (_int_) – 0 ~ 255

### set_digital_output(id, pin_no, pin_signal)

Set atom IO output level

* **Parameters**

  * **id** – 1/2 (L/R)

  * **pin_no** (_int_) – 1 - 5

  * **pin_signal** (_int_) – 0 / 1

### set_encoder(id, joint_id, encoder, speed)

Set a single joint rotation to the specified potential value.

* **Parameters**

  * **id** – 1/2/3 (L/R/W).

  * **joint_id** – 1 - 6.

  * **encoder** – The value of the set encoder.

### set_encoders(id, encoders, speed)

Set the six joints of the manipulator to execute synchronously to the specified position.

* **Parameters**

  * **id** – 1/2 (L/R).

  * **encoders** – A encoder list, length 6.

  * **speed** – speed 1 ~ 100

### set_end_type(id, end)

Set end coordinate system

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **end** – 0 - flange, 1 - tool

### set_encoders_drag(id, encoders, speeds)

Send all encoders and speeds

- **Parameters**

  * **encoders** - (`list`) : encoders list.
  * **speeds** - Obtained by the get_servo_speeds() method

### set_free_mode(id, value)

set free mode

* **Parameters**

  * **id** – 0/1/2/3 (ALL/L/R/W)

  * **value** – 0 - close 1 - open

### set_fresh_mode(id, mode)

Set command refresh mode

* **Parameters**

  * **id** – 1/2 (L/R).

  * **mode** – int
    1 - Always execute the latest command first.
    0 - Execute instructions sequentially in the form of a queue.

### set_gripper_calibration(id)

Set the current position to zero, set current position value is 2048.

* **Parameters**

    **id** – 1/2 (L/R)

### set_gripper_state(id, flag)

Set gripper switch state

* **Parameters**

  * **id** – 1/2 (L/R)

  * **flag** (_int_) – 0 - close, 1 - open

### set_gripper_value(id, value, speed)

Set gripper value

* **Parameters**

  * **id** – 1/2 (L/R)

  * **value** (_int_) – 0 ~ 100

  * **speed** (_int_) – 0 ~ 100

### set_joint_current(id, joint_id, current)

Set Collision Current

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **joint_id** – 1 - 6

  * **current** – current value

### set_joint_max(id, joint_id, angle)

Set the joint maximum angle

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint_id** – int 1-6.

  * **angle** – 0 ~ 180

### set_joint_min(id, joint_id, angle)

Set the joint minimum angle

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **joint_id** – int 1-6.

  * **angle** – 0 ~ 180

### set_movement_type(id, move_type)

Set movement type

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **move_type** – 1 - movel, 0 - moveJ

### set_pin_mode(id, pin_no, pin_mode)

Set the state mode of the specified pin in atom.

* **Parameters**

  * **id** – 1/2 (L/R)

  * **pin_no** (_int_) – pin number (1 - 5).

  * **pin_mode** (_int_) – 0 - input, 1 - output

### set_plan_acceleration(id, acceleration)

Set planning acceleration

* **Parameters**

  * **id** – 0/1/2/3 (ALL/L/R/W)

  * **acceleration** (_int_) – (0 ~ 100).

### set_plan_speed(id, speed)

Set planning speed

* **Parameters**

  * **id** – 0/1/2/3 (ALL/L/R/W)

  * **speed** (_int_) – (0 ~ 100).

### set_pwm_output()

Set PWM output

### set_reference_frame(id, rftype)

Set the base coordinate system

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **rftype** – 0 - base 1 - tool.

### set_robot_id(id, new_id)

Set this robot id

* **Parameters**

  * **id** – 0/1/2/3 (ALL/L/R/W)

  * **new_id** – 1 - 253

### set_servo_calibration(id, servo_no)

The current position of the calibration joint actuator is the angle zero point,

    and the corresponding potential value is 2048.

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_no** – Serial number of articulated steering gear, 1 - 6.

### set_servo_data(id, servo_no, data_id, value)

Set the data parameters of the specified address of the steering gear

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **servo_no** – Serial number of articulated steering gear, 1 - 6.

  * **data_id** – Data address.

  * **value** – 0 - 4096

### set_speed(id, speed)

Set speed value

* **Parameters**

  * **id** – 1/2/3 (L/R/W)

  * **speed** (_int_) – 0 - 100

### set_tool_reference(id, coords)

Set tool coordinate system

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **coords** – a list of coords value(List[float]), length 6. [x(mm), y, z, rx(angle), ry, rz]

### set_world_reference(id, coords)

Set the world coordinate system

* **Parameters**

  * **id** – 0/1/2 (ALL/L/R)

  * **coords** – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]

### stop(id)

Stop moving

* **Parameters**

    **id** – 0/1/2/3 (ALL/L/R/W).

### write_base_coord(id, axis, coord, speed)

Base single coordinate movement

* **Parameters**

  * **id** – 1/2 (L/R)

  * **axis** – 1 - 6 (x/y/z/rx/ry/rz)

  * **coord** – Coordinate value

  * **speed** – 1 - 100

### write_base_coords(id, coords, speed)

base coordinate move

* **Parameters**

  * **id** – 1/2 (L/R)

  * **coords** – coords: a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]

  * **speed** – 1 - 100



### get_radians(id)

Get the radians of all joints

* **Parameters**

    **id** – 1/2 (L/R)

* **Returns**

    A list of float radians [radian1, …]

* **Return type**

    list

### send_radians(id, radians, speed)

Send the radians of all joints to robot arm

* **Parameters**

  * **id** – 1/2 (L/R).

  * **radians** – a list of radian values( List[float]), length 6

  * **speed** – (int )1 ~ 100

### set_gpio_input(pin)

Set GPIO input value.

* **Parameters**

    **pin** – (int)pin number.

### set_gpio_mode(pin_no, mode)

Init GPIO module, and set BCM mode.

* **Parameters**

  * **pin_no** – (int)pin number.

  * **mode** – 0 - input 1 - output

### set_gpio_output(pin, v)

Set GPIO output value.

* **Parameters**

  * **pin** – (int)pin number.

  * **v** – (int) 0 / 1

### set_gpio_pwm(pin, baud, dc)

Set GPIO PWM value.

* **Parameters**

  * **pin** – (int)pin number.

  * **baud** – (int) 10 - 1000000

  * **dc** – (int) 0 - 100


# MyBuddyEmoticon

## MyBuddyEmoticon(file_path: list = [], window_size: tuple = [], loop=False)

API for playing emoticons

* **Parameters**
  * **file_path** - `[[path, time],...]` The absolute path of facial expression video and the length of time to play.Time in seconds.

  * **window_size** - `(Length, width) `Size of the playback window (default is full screen).

  * **loop** - Loop playback or not (only once by default).

```python
from pymycobot import MyBuddyEmoticon
import time

# playlist
file_path = [
  ['/home/er/emo/look_happy.mp4', 10],
]
# Initialize the object and set it to loop playback
em = MyBuddyEmoticon(file_path, loop = True)
# Start playing
em.start()

# Pause playback after 3 seconds
# time.sleep(3)
# em.pause()

# Continue playing
# em.run()

# The main thread waits for the completion of playback
em.join()
```

### add_file_path(path_time: list)
Add Playback File


* **Parameters**

    **path_time** – [path, time] The video address to be added and the running time



### del_file_path(index: int)
Delete the element with the specified subscript in the playlist list


* **Parameters**

    **index** – The subscript of the element in the playlist to be deleted



### file_path
Get Playfile List


* **Returns**

    list



### join()
Wait for the thread playing the video to finish


### pause()
Pause playback

### run()
Continue playing


### start()
Start playing

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

Raw data

            {
    "_id": null,
    "home_page": "https://github.com/elephantrobotics/pymycobot",
    "name": "pymycobot",
    "maintainer": null,
    "docs_url": null,
    "requires_python": "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7",
    "maintainer_email": null,
    "keywords": null,
    "author": "Elephantrobotics",
    "author_email": "weiquan.xu@elephantrobotics.com",
    "download_url": "https://files.pythonhosted.org/packages/01/50/cd5bc6e0a46036c89dc73b2d889e24c4381caeba644e74e3b292436ac717/pymycobot-3.9.1.tar.gz",
    "platform": null,
    "description": "# This is Python API for ElephantRobotics product\r\n\r\n![Python 2.7](https://img.shields.io/badge/Python-v2.7%5E-green?logo=python)\r\n![Python 3](https://img.shields.io/badge/Python-v3%5E-green?logo=python)\r\n[![pypi_version](https://img.shields.io/pypi/v/pymycobot?label=pypi)](https://pypi.org/project/pigit)\r\n\r\nThis is a python API for serial communication with mycobot and controlling it.\r\n\r\n[![home](./f3-min2.jpg)](https://www.elephantrobotics.com/en/myCobot-en/)\r\n\r\n## Installation\r\n\r\n**Notes**:\r\n\r\n> Make sure that `Atom` is flashed into the top Atom, `Transponder` is flashed into the base Basic. <br>\r\n> The firmware `Atom` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>\r\n> You also can use myStudio to flash them, myStudio address: [https://github.com/elephantrobotics/myStudio/releases](https://github.com/elephantrobotics/myStudio/releases)\r\n\r\n### Pip\r\n\r\n```bash\r\npip install pymycobot --upgrade\r\n```\r\n\r\n<!--\r\n**Notes:**\r\n\r\n> Now only the version is `Atom2.4` or later is supported. If you use an earlier version, please install `pymycobot 1.0.7`.\r\n\r\n```bash\r\npip install pymycobot==1.0.7 --user\r\n```\r\n-->\r\n\r\n### Source code\r\n\r\n```bash\r\ngit clone https://github.com/elephantrobotics/pymycobot.git <your-path>\r\ncd <your-path>/pymycobot\r\n# Install\r\n[sudo] python2 setup.py install\r\n# or\r\n[sudo] python3 setup.py install\r\n```\r\n\r\nOr the more modern form:\r\n\r\n```bash\r\n# Install\r\npip install .\r\n# Uninstall\r\npip uninstall .\r\n```\r\n\r\n## Usage:\r\n\r\n```python\r\n# for mycobot 280 machine\r\nfrom pymycobot import MyCobot280  \r\nfrom pymycobot import MyCobot280Socket\r\n# for mycobot 320 machine\r\nfrom pymycobot import MyCobot320\r\nfrom pymycobot import MyCobot320Socket  \r\n# for mecharm 270 machine\r\nfrom pymycobot import MechArm270  \r\nfrom pymycobot import MechArmSocket  \r\n# for mypalletizer 260 machine\r\nfrom pymycobot import MyPalletizer260  \r\nfrom pymycobot import MyPalletizerSocket\r\n```\r\n\r\nThe [`demo`](./demo) directory stores some test case files.\r\n\r\nYou can find out which interfaces pymycobot provides in `pymycobot/README.md`.\r\n\r\nPlease go to [here](./docs/README.md).\r\n\r\n\r\n> Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document: \r\n\r\n![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)   ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)\r\n\r\n[MyCobot 280 API\u8bf4\u660e](./docs/MyCobot_280_zh.md) | [MyCobot 280 API Description](./docs/MyCobot_280_en.md)\r\n\r\n[MyCobot 320 API\u8bf4\u660e](./docs/MyCobot_320_zh.md) | [MyCobot 320 API Description](./docs/MyCobot_320_en.md)\r\n\r\n[MechArm 270 API\u8bf4\u660e](./docs/MechArm_270_zh.md) | [MechArm 270 API Description](./docs/MechArm_270_en.md)\r\n\r\n[MyPalletizer 260 API\u8bf4\u660e](./docs/MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./docs/MyPalletizer_260_en.md)\r\n\r\n[myAGV API\u8bf4\u660e](./docs/myAGV_zh.md) | [myAGV API Description](./docs/myAGV_en.md)\r\n\r\n[myArm_M&C API\u8bf4\u660e](./docs/myArm_M&C_zh.md) | [myArm_M&C API Description](./docs/myArm_M&C_en.md)\r\n\r\n[ultraArm P340 API\u8bf4\u660e](./docs/ultraArm_P340_zh.md) | [ultraArm P340 API Description](./docs/ultraArm_P340_en.md)# pymycobot\r\n\r\n**This is python API for ElephantRobotics product**\r\n\r\nWe support Python2, Python3.5 or later.\r\n\r\n![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg)   ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg)\r\n\r\n[MyCobot 280 API\u8bf4\u660e](./MyCobot_280_zh.md) | [MyCobot 280 API Description](./MyCobot_280_en.md)\r\n\r\n[MyCobot 320 API\u8bf4\u660e](./MyCobot_320_zh.md) | [MyCobot 320 API Description](./MyCobot_320_en.md)\r\n\r\n[MechArm 270 API\u8bf4\u660e](./MechArm_270_zh.md) | [MechArm 270 API Description](./MechArm_270_en.md)\r\n\r\n[MyPalletizer 260 API\u8bf4\u660e](./MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./MyPalletizer_260_en.md)\r\n\r\n[myAGV API\u8bf4\u660e](./myAGV_zh.md) | [myAGV API Description](./myAGV_en.md)\r\n\r\n[myArm_M&C API\u8bf4\u660e](./myArm_M&C_zh.md) | [myArm_M&C API Description](./myArm_M&C_en.md)\r\n\r\n[ultraArm P340 API\u8bf4\u660e](./ultraArm_P340_zh.md) | [ultraArm P340 API Description](./ultraArm_P340_en.md)\r\n\r\n<details>\r\n<summary>Catalogue:</summary>\r\n\r\n<!-- vim-markdown-toc GFM -->\r\n\r\n- [pymycobot](#pymycobot)\r\n- [MyBuddy](#mybuddy)\r\n    - [base\\_to\\_single\\_coords(base\\_coords, arm)](#base_to_single_coordsbase_coords-arm)\r\n    - [collision(left\\_angles, right\\_angles)](#collisionleft_angles-right_angles)\r\n    - [collision\\_switch(state)](#collision_switchstate)\r\n    - [focus\\_servo(id, servo\\_id)](#focus_servoid-servo_id)\r\n    - [get\\_acceleration(id)](#get_accelerationid)\r\n    - [get\\_angle(id, joint\\_id)](#get_angleid-joint_id)\r\n    - [get\\_angles(id)](#get_anglesid)\r\n    - [get\\_base\\_coord(id)](#get_base_coordid)\r\n    - [get\\_base\\_coords(\\*args: int)](#get_base_coordsargs-int)\r\n    - [get\\_coord(id, joint\\_id)](#get_coordid-joint_id)\r\n    - [get\\_coords(id)](#get_coordsid)\r\n    - [get\\_digital\\_input(id, pin\\_no)](#get_digital_inputid-pin_no)\r\n    - [get\\_encoder(id, joint\\_id)](#get_encoderid-joint_id)\r\n    - [get\\_encoders(id)](#get_encodersid)\r\n    - [get\\_end\\_type(id)](#get_end_typeid)\r\n    - [get\\_gripper\\_value(id)](#get_gripper_valueid)\r\n    - [get\\_joint\\_current(id, joint\\_id)](#get_joint_currentid-joint_id)\r\n    - [get\\_joint\\_max\\_angle(id, joint\\_id)](#get_joint_max_angleid-joint_id)\r\n    - [get\\_joint\\_min\\_angle(id, joint\\_id)](#get_joint_min_angleid-joint_id)\r\n    - [get\\_movement\\_type(id)](#get_movement_typeid)\r\n    - [get\\_plan\\_acceleration(id=0)](#get_plan_accelerationid0)\r\n    - [get\\_plan\\_speed(id=0)](#get_plan_speedid0)\r\n    - [get\\_reference\\_frame(id)](#get_reference_frameid)\r\n    - [get\\_robot\\_id(id)](#get_robot_idid)\r\n    - [get\\_robot\\_version(id)](#get_robot_versionid)\r\n    - [get\\_servo\\_currents(id)](#get_servo_currentsid)\r\n    - [get\\_servo\\_data(id, servo\\_no, data\\_id)](#get_servo_dataid-servo_no-data_id)\r\n    - [get\\_servo\\_status(id)](#get_servo_statusid)\r\n    - [get\\_servo\\_spees(id)](#get_servo_speesid)\r\n    - [get\\_servo\\_temps(id)](#get_servo_tempsid)\r\n    - [get\\_servo\\_voltages(id)](#get_servo_voltagesid)\r\n    - [get\\_speed(id)](#get_speedid)\r\n    - [get\\_system\\_version(id)](#get_system_versionid)\r\n    - [get\\_tool\\_reference(id)](#get_tool_referenceid)\r\n    - [get\\_world\\_reference(id)](#get_world_referenceid)\r\n    - [is\\_all\\_servo\\_enable(id)](#is_all_servo_enableid)\r\n    - [is\\_collision\\_on()](#is_collision_on)\r\n    - [is\\_controller\\_connected(id=0)](#is_controller_connectedid0)\r\n    - [is\\_free\\_mode(id)](#is_free_modeid)\r\n    - [is\\_gripper\\_moving(id)](#is_gripper_movingid)\r\n    - [is\\_in\\_position(id, data, mode)](#is_in_positionid-data-mode)\r\n    - [is\\_moving(id)](#is_movingid)\r\n    - [is\\_paused(id)](#is_pausedid)\r\n    - [is\\_power\\_on(id=0)](#is_power_onid0)\r\n    - [is\\_servo\\_enable(id, servo\\_id)](#is_servo_enableid-servo_id)\r\n    - [jog\\_absolute(id, joint\\_id, angle, speed)](#jog_absoluteid-joint_id-angle-speed)\r\n    - [jog\\_angle(id, joint\\_id, direction, speed)](#jog_angleid-joint_id-direction-speed)\r\n    - [jog\\_coord(id, coord\\_id, direction, speed)](#jog_coordid-coord_id-direction-speed)\r\n    - [jog\\_inc\\_coord(axis, increment, speed)](#jog_inc_coordaxis-increment-speed)\r\n    - [jog\\_increment(id, joint\\_id, increment, speed)](#jog_incrementid-joint_id-increment-speed)\r\n    - [jog\\_stop(id)](#jog_stopid)\r\n    - [joint\\_brake(id, joint\\_id)](#joint_brakeid-joint_id)\r\n    - [pause(id)](#pauseid)\r\n    - [power\\_off(id=0)](#power_offid0)\r\n    - [power\\_on(id=0)](#power_onid0)\r\n    - [read\\_next\\_error(id=0)](#read_next_errorid0)\r\n    - [release\\_all\\_servos(id=0)](#release_all_servosid0)\r\n    - [release\\_servo(id, servo\\_id)](#release_servoid-servo_id)\r\n    - [resume(id)](#resumeid)\r\n    - [send\\_angle(id, joint, angle, speed)](#send_angleid-joint-angle-speed)\r\n    - [send\\_angles(id, degrees, speed)](#send_anglesid-degrees-speed)\r\n    - [send\\_coord(id, coord, data, speed)](#send_coordid-coord-data-speed)\r\n    - [send\\_coords(id, coords, speed, mode)](#send_coordsid-coords-speed-mode)\r\n    - [set\\_acceleration(id, acc)](#set_accelerationid-acc)\r\n    - [set\\_color(id, r=0, g=0, b=0)](#set_colorid-r0-g0-b0)\r\n    - [set\\_digital\\_output(id, pin\\_no, pin\\_signal)](#set_digital_outputid-pin_no-pin_signal)\r\n    - [set\\_encoder(id, joint\\_id, encoder, speed)](#set_encoderid-joint_id-encoder-speed)\r\n    - [set\\_encoders(id, encoders, speed)](#set_encodersid-encoders-speed)\r\n    - [set\\_end\\_type(id, end)](#set_end_typeid-end)\r\n    - [set\\_encoders\\_drag(id, encoders, speeds)](#set_encoders_dragid-encoders-speeds)\r\n    - [set\\_free\\_mode(id, value)](#set_free_modeid-value)\r\n    - [set\\_fresh\\_mode(id, mode)](#set_fresh_modeid-mode)\r\n    - [set\\_gripper\\_calibration(id)](#set_gripper_calibrationid)\r\n    - [set\\_gripper\\_state(id, flag)](#set_gripper_stateid-flag)\r\n    - [set\\_gripper\\_value(id, value, speed)](#set_gripper_valueid-value-speed)\r\n    - [set\\_joint\\_current(id, joint\\_id, current)](#set_joint_currentid-joint_id-current)\r\n    - [set\\_joint\\_max(id, joint\\_id, angle)](#set_joint_maxid-joint_id-angle)\r\n    - [set\\_joint\\_min(id, joint\\_id, angle)](#set_joint_minid-joint_id-angle)\r\n    - [set\\_movement\\_type(id, move\\_type)](#set_movement_typeid-move_type)\r\n    - [set\\_pin\\_mode(id, pin\\_no, pin\\_mode)](#set_pin_modeid-pin_no-pin_mode)\r\n    - [set\\_plan\\_acceleration(id, acceleration)](#set_plan_accelerationid-acceleration)\r\n    - [set\\_plan\\_speed(id, speed)](#set_plan_speedid-speed)\r\n    - [set\\_pwm\\_output()](#set_pwm_output)\r\n    - [set\\_reference\\_frame(id, rftype)](#set_reference_frameid-rftype)\r\n    - [set\\_robot\\_id(id, new\\_id)](#set_robot_idid-new_id)\r\n    - [set\\_servo\\_calibration(id, servo\\_no)](#set_servo_calibrationid-servo_no)\r\n    - [set\\_servo\\_data(id, servo\\_no, data\\_id, value)](#set_servo_dataid-servo_no-data_id-value)\r\n    - [set\\_speed(id, speed)](#set_speedid-speed)\r\n    - [set\\_tool\\_reference(id, coords)](#set_tool_referenceid-coords)\r\n    - [set\\_world\\_reference(id, coords)](#set_world_referenceid-coords)\r\n    - [stop(id)](#stopid)\r\n    - [write\\_base\\_coord(id, axis, coord, speed)](#write_base_coordid-axis-coord-speed)\r\n    - [write\\_base\\_coords(id, coords, speed)](#write_base_coordsid-coords-speed)\r\n    - [get\\_radians(id)](#get_radiansid)\r\n    - [send\\_radians(id, radians, speed)](#send_radiansid-radians-speed)\r\n    - [set\\_gpio\\_input(pin)](#set_gpio_inputpin)\r\n    - [set\\_gpio\\_mode(pin\\_no, mode)](#set_gpio_modepin_no-mode)\r\n    - [set\\_gpio\\_output(pin, v)](#set_gpio_outputpin-v)\r\n    - [set\\_gpio\\_pwm(pin, baud, dc)](#set_gpio_pwmpin-baud-dc)\r\n- [MyBuddyEmoticon](#mybuddyemoticon)\r\n  - [MyBuddyEmoticon(file\\_path: list = \\[\\], window\\_size: tuple = \\[\\], loop=False)](#mybuddyemoticonfile_path-list---window_size-tuple---loopfalse)\r\n    - [add\\_file\\_path(path\\_time: list)](#add_file_pathpath_time-list)\r\n    - [del\\_file\\_path(index: int)](#del_file_pathindex-int)\r\n    - [file\\_path](#file_path)\r\n    - [join()](#join)\r\n    - [pause()](#pause)\r\n    - [run()](#run)\r\n    - [start()](#start)\r\n  \r\n<!-- vim-markdown-toc -->\r\n</details>\r\n\r\n# MyBuddy\r\n\r\n### base_to_single_coords(base_coords, arm)\r\n\r\nConvert base coordinates to coordinates\r\n\r\n* **Parameters**\r\n\r\n  * **coords** \u2013 a list of base coords value len 6\r\n\r\n  * **arm** \u2013 0 - left. 1 - right\r\n\r\n* **Returns**\r\n\r\n    coords\r\n\r\n### collision(left_angles, right_angles)\r\n\r\nCollision detection main program\r\n\r\n* **Parameters**\r\n\r\n  * **left_angles** \u2013 left arm angle len 6.\r\n\r\n  * **right_angles** \u2013 right arm angle len 6.\r\n\r\n* **Returns**\r\n\r\n    int\r\n\r\n### collision_switch(state)\r\n\r\nCollision Detection Switch\r\n\r\n* **Parameters**\r\n\r\n    **state** (_int_) \u2013 0 - close 1 - open (Off by default)\r\n\r\n### focus_servo(id, servo_id)\r\n\r\nPower on designated servo\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_id** \u2013 1 - 6\r\n\r\n### get_acceleration(id)\r\n\r\nRead acceleration during all moves\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n### get_angle(id, joint_id)\r\n\r\nGet the angle of a single joint\r\n\r\n* **Parameters**\r\n\r\n  * **id** (_int_) \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** (_int_) \u2013 1 - 7 (7 is gripper)\r\n\r\n### get_angles(id)\r\n\r\nGet the degree of all joints.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n* **Returns**\r\n\r\n    A float list of all degree.\r\n\r\n* **Return type**\r\n\r\n    list\r\n\r\n### get_base_coord(id)\r\n\r\nGet the base coordinates of the single arm\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n### get_base_coords(\\*args: int)\r\n\r\nConvert coordinates to base coordinates. Pass in parameters or no parameters\r\n\r\n* **Parameters**\r\n\r\n  * **coords** \u2013 a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]\r\n\r\n  * **arm** \u2013 0 - left. 1 - right\r\n\r\n* **Returns**\r\n\r\n    Base coords\r\n\r\n### get_coord(id, joint_id)\r\n\r\nRead a single coordinate parameter\r\n\r\n* **Parameters**\r\n\r\n  * **id** (_int_) \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** (_int_) \u2013 1 - 7 (7 is gripper)\r\n\r\n### get_coords(id)\r\n\r\nGet the coordinates of the robotic arm\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R).\r\n\r\n### get_digital_input(id, pin_no)\r\n\r\nsingal value\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **pin_no** (_int_) \u2013 1 - 5\r\n\r\n### get_encoder(id, joint_id)\r\n\r\nObtain the specified joint potential value.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** \u2013 (int) 1 ~ 6\r\n\r\n* **Returns**\r\n\r\n    0 ~ 4096\r\n\r\n### get_encoders(id)\r\n\r\nGet the six joints of the manipulator\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R).\r\n\r\n* **Returns**\r\n\r\n    The list of encoders\r\n\r\n### get_end_type(id)\r\n\r\nGet end coordinate system\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n* **Returns**\r\n\r\n    0 - flange\r\n    1 - tool\r\n\r\n### get_gripper_value(id)\r\n\r\nGet the value of gripper.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n* **Returns**\r\n\r\n    gripper value (int)\r\n\r\n### get_joint_current(id, joint_id)\r\n\r\nGet Collision Current\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **joint_id** \u2013 1 - 6\r\n\r\n### get_joint_max_angle(id, joint_id)\r\n\r\nGets the maximum movement angle of the specified joint\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint_id** \u2013 (int) 1 - 6\r\n\r\n* **Returns**\r\n\r\n    angle value(float)\r\n\r\n### get_joint_min_angle(id, joint_id)\r\n\r\nGets the minimum movement angle of the specified joint\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint_id** \u2013 (int) 1 - 6\r\n\r\n* **Returns**\r\n\r\n    angle value(float)\r\n\r\n### get_movement_type(id)\r\n\r\nGet movement type\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n* **Returns**\r\n\r\n    1 - movel\r\n    0 - moveJ\r\n\r\n### get_plan_acceleration(id=0)\r\n\r\nGet planning acceleration\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n* **Returns**\r\n\r\n    [movel planning acceleration, movej planning acceleration].\r\n\r\n### get_plan_speed(id=0)\r\n\r\nGet planning speed\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n* **Returns**\r\n\r\n    [movel planning speed, movej planning speed].\r\n\r\n### get_reference_frame(id)\r\n\r\nGet the base coordinate system\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n* **Returns**\r\n\r\n    0 - base 1 - tool.\r\n\r\n### get_robot_id(id)\r\n\r\nDetect this robot id\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### get_robot_version(id)\r\n\r\nGet cobot version\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### get_servo_currents(id)\r\n\r\nGet joint current\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n* **Returns**\r\n\r\n    value mA\r\n\r\n### get_servo_data(id, servo_no, data_id)\r\n\r\nRead the data parameter of the specified address of the steering gear.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_no** \u2013 Serial number of articulated steering gear, 1 - 6.\r\n\r\n  * **data_id** \u2013 Data address.\r\n\r\n* **Returns**\r\n\r\n    values (0 - 4096)\r\n    0 - disable\r\n    1 - enable\r\n    -1 - error\r\n\r\n### get_servo_status(id)\r\n\r\nGet joint status\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n* **Returns**\r\n\r\n    [voltage, sensor, temperature, current, angle, overload], a value of 0 means no error\r\n\r\n### get_servo_spees(id)\r\n\r\nGet joint speed\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/ (L/R)\r\n\r\n* **Returns**\r\n\r\n    list len 6\r\n\r\n### get_servo_temps(id)\r\n\r\nGet joint temperature\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n### get_servo_voltages(id)\r\n\r\nGet joint voltages\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n* **Returns**\r\n\r\n    volts < 24 V\r\n\r\n### get_speed(id)\r\n\r\nGet speed\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W).\r\n\r\n* **Returns**\r\n\r\n    speed\r\n\r\n* **Return type**\r\n\r\n    int\r\n\r\n### get_system_version(id)\r\n\r\nGet cobot version\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### get_tool_reference(id)\r\n\r\nGet tool coordinate system\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n### get_world_reference(id)\r\n\r\nGet the world coordinate system\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n### is_all_servo_enable(id)\r\n\r\nDetermine whether the specified steering gear is connected\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W)\r\n\r\n* **Returns**\r\n\r\n    0 - disable\r\n    1 - enable\r\n    -1 - error\r\n\r\n### is_collision_on()\r\n\r\nGet collision detection status\r\n\r\n### is_controller_connected(id=0)\r\n\r\nWether connected with Atom.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### is_free_mode(id)\r\n\r\nCheck if it is free mode\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n* **Returns**\r\n\r\n    0/1\r\n\r\n### is_gripper_moving(id)\r\n\r\nJudge whether the gripper is moving or not\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n* **Returns**\r\n\r\n    0 - not moving\r\n    1 - is moving\r\n    -1 - error data\r\n\r\n### is_in_position(id, data, mode)\r\n\r\nJudge whether in the position.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n  * **data** \u2013 A data list, angles or coords. If id is 1/2. data length is 6. If id is 0. data len 13. if id is 3. data len 1\r\n\r\n  * **mode** \u2013 1 - coords, 0 - angles\r\n\r\n* **Returns**\r\n\r\n    1 - True\r\n    0 - False\r\n    -1 - Error\r\n\r\n### is_moving(id)\r\n\r\nDetect if the robot is moving\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n* **Returns**\r\n\r\n    0 - not moving\r\n    1 - is moving\r\n    -1 - error data\r\n\r\n### is_paused(id)\r\n\r\nJudge whether the manipulator pauses or not.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n* **Returns**\r\n\r\n    1 - paused\r\n    0 - not paused\r\n    -1 - error\r\n\r\n### is_power_on(id=0)\r\n\r\nAdjust robot arm status\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n* **Returns**\r\n\r\n    1 - power on\r\n    0 - power off\r\n    -1 - error data\r\n\r\n### is_servo_enable(id, servo_id)\r\n\r\nDetermine whether all steering gears are connected\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_id** \u2013 (int) 1 ~ 6\r\n\r\n* **Returns**\r\n\r\n    0 - disable\r\n    1 - enable\r\n    -1 - error\r\n\r\n### jog_absolute(id, joint_id, angle, speed)\r\n\r\nAbsolute joint control\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** \u2013 int 1-6.\r\n\r\n  * **angle** \u2013 int\r\n\r\n  * **speed** \u2013 int (0 - 100)\r\n\r\n### jog_angle(id, joint_id, direction, speed)\r\n\r\nJog control angle.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** \u2013 int 1-6.\r\n\r\n  * **direction** \u2013 0 - decrease, 1 - increase\r\n\r\n  * **speed** \u2013 int (0 - 100)\r\n\r\n### jog_coord(id, coord_id, direction, speed)\r\n\r\nJog control coord.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **coord_id** \u2013 int 1-6 (x/y/z/rx/ry/rz).\r\n\r\n  * **direction** \u2013 0 - decrease, 1 - increase\r\n\r\n  * **speed** \u2013 int (0 - 100)\r\n\r\n### jog_inc_coord(axis, increment, speed)\r\n\r\nDouble-arm coordinated coordinate stepping\r\n\r\n* **Parameters**\r\n\r\n  * **axis** \u2013 1 - 6 (x/y/z/rx/ry/rz)\r\n\r\n  * **increment** \u2013\r\n\r\n  * **speed** \u2013 1 - 100\r\n\r\n### jog_increment(id, joint_id, increment, speed)\r\n\r\nstep mode\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** \u2013 int 1-6.\r\n\r\n  * **increment** \u2013\r\n\r\n  * **speed** \u2013 int (1 - 100)\r\n\r\n### jog_stop(id)\r\n\r\nStop jog moving\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2/3 (L/R/W).\r\n\r\n### joint_brake(id, joint_id)\r\n\r\nMake it stop when the joint is in motion, and the buffer distance is positively related to the existing speed\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint_id** \u2013 1 - 6\r\n\r\n### pause(id)\r\n\r\nPause movement\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n### power_off(id=0)\r\n\r\nClose communication with Atom.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### power_on(id=0)\r\n\r\nOpen communication with Atom.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### read_next_error(id=0)\r\n\r\nRobot Error Detection\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### release_all_servos(id=0)\r\n\r\nRobot turns off torque output\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n### release_servo(id, servo_id)\r\n\r\nPower off designated servo\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_id** \u2013 1 - 6.\r\n\r\n### resume(id)\r\n\r\nRecovery movement\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n### send_angle(id, joint, angle, speed)\r\n\r\nSend one degree of joint to robot arm.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint** \u2013 1 ~ 6\r\n\r\n  * **angle** \u2013 int\r\n\r\n  * **speed** \u2013 1 ~ 100\r\n\r\n### send_angles(id, degrees, speed)\r\n\r\nSend all angles to the robotic arm\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R).\r\n\r\n  * **degrees** \u2013 [angle_list] len 6\r\n\r\n  * **speed** \u2013 1 - 100\r\n\r\n### send_coord(id, coord, data, speed)\r\n\r\nSend a single coordinate to the robotic arm\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **coord** \u2013 1 ~ 6 (x/y/z/rx/ry/rz)\r\n\r\n  * **data** \u2013 Coordinate value\r\n\r\n  * **speed** \u2013 0 ~ 100\r\n\r\n### send_coords(id, coords, speed, mode)\r\n\r\nSend all coords to robot arm.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R).\r\n\r\n  * **coords** \u2013 a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]\r\n\r\n  * **speed** \u2013 (int) 0 ~ 100\r\n\r\n  * **mode** \u2013 (int) 0 - moveJ, 1 - moveL, 2 - moveC\r\n\r\n### set_acceleration(id, acc)\r\n\r\nRead acceleration during all moves\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **acc** \u2013 1 - 100\r\n\r\n### set_color(id, r=0, g=0, b=0)\r\n\r\nSet the light color on the top of the robot arm.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **r** (_int_) \u2013 0 ~ 255\r\n\r\n  * **g** (_int_) \u2013 0 ~ 255\r\n\r\n  * **b** (_int_) \u2013 0 ~ 255\r\n\r\n### set_digital_output(id, pin_no, pin_signal)\r\n\r\nSet atom IO output level\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **pin_no** (_int_) \u2013 1 - 5\r\n\r\n  * **pin_signal** (_int_) \u2013 0 / 1\r\n\r\n### set_encoder(id, joint_id, encoder, speed)\r\n\r\nSet a single joint rotation to the specified potential value.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W).\r\n\r\n  * **joint_id** \u2013 1 - 6.\r\n\r\n  * **encoder** \u2013 The value of the set encoder.\r\n\r\n### set_encoders(id, encoders, speed)\r\n\r\nSet the six joints of the manipulator to execute synchronously to the specified position.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R).\r\n\r\n  * **encoders** \u2013 A encoder list, length 6.\r\n\r\n  * **speed** \u2013 speed 1 ~ 100\r\n\r\n### set_end_type(id, end)\r\n\r\nSet end coordinate system\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **end** \u2013 0 - flange, 1 - tool\r\n\r\n### set_encoders_drag(id, encoders, speeds)\r\n\r\nSend all encoders and speeds\r\n\r\n- **Parameters**\r\n\r\n  * **encoders** - (`list`) : encoders list.\r\n  * **speeds** - Obtained by the get_servo_speeds() method\r\n\r\n### set_free_mode(id, value)\r\n\r\nset free mode\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n  * **value** \u2013 0 - close 1 - open\r\n\r\n### set_fresh_mode(id, mode)\r\n\r\nSet command refresh mode\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R).\r\n\r\n  * **mode** \u2013 int\r\n    1 - Always execute the latest command first.\r\n    0 - Execute instructions sequentially in the form of a queue.\r\n\r\n### set_gripper_calibration(id)\r\n\r\nSet the current position to zero, set current position value is 2048.\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n### set_gripper_state(id, flag)\r\n\r\nSet gripper switch state\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **flag** (_int_) \u2013 0 - close, 1 - open\r\n\r\n### set_gripper_value(id, value, speed)\r\n\r\nSet gripper value\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **value** (_int_) \u2013 0 ~ 100\r\n\r\n  * **speed** (_int_) \u2013 0 ~ 100\r\n\r\n### set_joint_current(id, joint_id, current)\r\n\r\nSet Collision Current\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **joint_id** \u2013 1 - 6\r\n\r\n  * **current** \u2013 current value\r\n\r\n### set_joint_max(id, joint_id, angle)\r\n\r\nSet the joint maximum angle\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint_id** \u2013 int 1-6.\r\n\r\n  * **angle** \u2013 0 ~ 180\r\n\r\n### set_joint_min(id, joint_id, angle)\r\n\r\nSet the joint minimum angle\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **joint_id** \u2013 int 1-6.\r\n\r\n  * **angle** \u2013 0 ~ 180\r\n\r\n### set_movement_type(id, move_type)\r\n\r\nSet movement type\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **move_type** \u2013 1 - movel, 0 - moveJ\r\n\r\n### set_pin_mode(id, pin_no, pin_mode)\r\n\r\nSet the state mode of the specified pin in atom.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **pin_no** (_int_) \u2013 pin number (1 - 5).\r\n\r\n  * **pin_mode** (_int_) \u2013 0 - input, 1 - output\r\n\r\n### set_plan_acceleration(id, acceleration)\r\n\r\nSet planning acceleration\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n  * **acceleration** (_int_) \u2013 (0 ~ 100).\r\n\r\n### set_plan_speed(id, speed)\r\n\r\nSet planning speed\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n  * **speed** (_int_) \u2013 (0 ~ 100).\r\n\r\n### set_pwm_output()\r\n\r\nSet PWM output\r\n\r\n### set_reference_frame(id, rftype)\r\n\r\nSet the base coordinate system\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **rftype** \u2013 0 - base 1 - tool.\r\n\r\n### set_robot_id(id, new_id)\r\n\r\nSet this robot id\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2/3 (ALL/L/R/W)\r\n\r\n  * **new_id** \u2013 1 - 253\r\n\r\n### set_servo_calibration(id, servo_no)\r\n\r\nThe current position of the calibration joint actuator is the angle zero point,\r\n\r\n    and the corresponding potential value is 2048.\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_no** \u2013 Serial number of articulated steering gear, 1 - 6.\r\n\r\n### set_servo_data(id, servo_no, data_id, value)\r\n\r\nSet the data parameters of the specified address of the steering gear\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **servo_no** \u2013 Serial number of articulated steering gear, 1 - 6.\r\n\r\n  * **data_id** \u2013 Data address.\r\n\r\n  * **value** \u2013 0 - 4096\r\n\r\n### set_speed(id, speed)\r\n\r\nSet speed value\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2/3 (L/R/W)\r\n\r\n  * **speed** (_int_) \u2013 0 - 100\r\n\r\n### set_tool_reference(id, coords)\r\n\r\nSet tool coordinate system\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **coords** \u2013 a list of coords value(List[float]), length 6. [x(mm), y, z, rx(angle), ry, rz]\r\n\r\n### set_world_reference(id, coords)\r\n\r\nSet the world coordinate system\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 0/1/2 (ALL/L/R)\r\n\r\n  * **coords** \u2013 a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]\r\n\r\n### stop(id)\r\n\r\nStop moving\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 0/1/2/3 (ALL/L/R/W).\r\n\r\n### write_base_coord(id, axis, coord, speed)\r\n\r\nBase single coordinate movement\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **axis** \u2013 1 - 6 (x/y/z/rx/ry/rz)\r\n\r\n  * **coord** \u2013 Coordinate value\r\n\r\n  * **speed** \u2013 1 - 100\r\n\r\n### write_base_coords(id, coords, speed)\r\n\r\nbase coordinate move\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R)\r\n\r\n  * **coords** \u2013 coords: a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]\r\n\r\n  * **speed** \u2013 1 - 100\r\n\r\n\r\n\r\n### get_radians(id)\r\n\r\nGet the radians of all joints\r\n\r\n* **Parameters**\r\n\r\n    **id** \u2013 1/2 (L/R)\r\n\r\n* **Returns**\r\n\r\n    A list of float radians [radian1, \u2026]\r\n\r\n* **Return type**\r\n\r\n    list\r\n\r\n### send_radians(id, radians, speed)\r\n\r\nSend the radians of all joints to robot arm\r\n\r\n* **Parameters**\r\n\r\n  * **id** \u2013 1/2 (L/R).\r\n\r\n  * **radians** \u2013 a list of radian values( List[float]), length 6\r\n\r\n  * **speed** \u2013 (int )1 ~ 100\r\n\r\n### set_gpio_input(pin)\r\n\r\nSet GPIO input value.\r\n\r\n* **Parameters**\r\n\r\n    **pin** \u2013 (int)pin number.\r\n\r\n### set_gpio_mode(pin_no, mode)\r\n\r\nInit GPIO module, and set BCM mode.\r\n\r\n* **Parameters**\r\n\r\n  * **pin_no** \u2013 (int)pin number.\r\n\r\n  * **mode** \u2013 0 - input 1 - output\r\n\r\n### set_gpio_output(pin, v)\r\n\r\nSet GPIO output value.\r\n\r\n* **Parameters**\r\n\r\n  * **pin** \u2013 (int)pin number.\r\n\r\n  * **v** \u2013 (int) 0 / 1\r\n\r\n### set_gpio_pwm(pin, baud, dc)\r\n\r\nSet GPIO PWM value.\r\n\r\n* **Parameters**\r\n\r\n  * **pin** \u2013 (int)pin number.\r\n\r\n  * **baud** \u2013 (int) 10 - 1000000\r\n\r\n  * **dc** \u2013 (int) 0 - 100\r\n\r\n\r\n# MyBuddyEmoticon\r\n\r\n## MyBuddyEmoticon(file_path: list = [], window_size: tuple = [], loop=False)\r\n\r\nAPI for playing emoticons\r\n\r\n* **Parameters**\r\n  * **file_path** - `[[path, time],...]` The absolute path of facial expression video and the length of time to play.Time in seconds.\r\n\r\n  * **window_size** - `(Length, width) `Size of the playback window (default is full screen).\r\n\r\n  * **loop** - Loop playback or not (only once by default).\r\n\r\n```python\r\nfrom pymycobot import MyBuddyEmoticon\r\nimport time\r\n\r\n# playlist\r\nfile_path = [\r\n  ['/home/er/emo/look_happy.mp4', 10],\r\n]\r\n# Initialize the object and set it to loop playback\r\nem = MyBuddyEmoticon(file_path, loop = True)\r\n# Start playing\r\nem.start()\r\n\r\n# Pause playback after 3 seconds\r\n# time.sleep(3)\r\n# em.pause()\r\n\r\n# Continue playing\r\n# em.run()\r\n\r\n# The main thread waits for the completion of playback\r\nem.join()\r\n```\r\n\r\n### add_file_path(path_time: list)\r\nAdd Playback File\r\n\r\n\r\n* **Parameters**\r\n\r\n    **path_time** \u2013 [path, time] The video address to be added and the running time\r\n\r\n\r\n\r\n### del_file_path(index: int)\r\nDelete the element with the specified subscript in the playlist list\r\n\r\n\r\n* **Parameters**\r\n\r\n    **index** \u2013 The subscript of the element in the playlist to be deleted\r\n\r\n\r\n\r\n### file_path\r\nGet Playfile List\r\n\r\n\r\n* **Returns**\r\n\r\n    list\r\n\r\n\r\n\r\n### join()\r\nWait for the thread playing the video to finish\r\n\r\n\r\n### pause()\r\nPause playback\r\n\r\n### run()\r\nContinue playing\r\n\r\n\r\n### start()\r\nStart playing\r\n\r\n---\r\nMore demo can go to [here](../demo).\r\n",
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Elephantrobotics
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