좌표는 mm 단위인가?
| mycobot_280 | mycobot_320 |
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atom 버튼 누르면 release_all_servos() 를 실행하고
damping 모드 되어있으면 팔이 떨어지진 않을것 같으니 원하는대로 옮기고
atom 버튼 떼면
get_angles() 나 get_coords() 해서 좌표 받고, power_on() 해서 서보 고정하고 끝.. 하면 좀 편하게 되려나?
| ### 1. System Status #### `get_modify_version()` #### `clear_queue()` #### `check_async_or_sync()` #### `get_system_version()` #### `get_basic_version()` #### `get_error_information()` #### `clear_error_information()` #### `get_reboot_count()` ### 2. Overall Status #### `power_on()` #### `power_off()` #### `is_power_on()` #### `release_all_servos()` #### `focus_servo(servo_id)` #### `is_controller_connected()` #### `read_next_error()` #### `get_fresh_mode()` #### `set_fresh_mode()` #### `set_free_mode()` #### `is_free_mode()` #### `focus_all_servos()` #### `set_vision_mode()` ### 3.MDI Mode and Operation #### `get_angles()` #### `get_angles_plan()` #### `send_angle(id, degree, speed)` #### `send_angles(angles, speed)` #### `get_coords()` #### `get_coords_plan()` #### `send_coord(id, coord, speed)` #### `send_coords(coords, speed, mode)` #### `pause()` #### `sync_send_angles(angles, speed, timeout=15)` #### `sync_send_coords(coords, speed, mode=0, timeout=15)` #### `get_angles_coords()` #### `is_paused()` #### `resume()` #### `stop()` #### `is_in_position(data, flag)` #### `is_moving()` #### `angles_to_coords(angles)` #### `solve_inv_kinematics(target_coords, current_angles)` #### `drag_start_record()` #### `drag_end_record()` #### `drag_get_record_data()` #### `drag_get_record_len()` #### `drag_clear_record_data()` ### 4. JOG Mode and Operation #### `jog_angle(joint_id, direction, speed)` #### `jog_coord(coord_id, direction, speed)` #### `jog_rpy(end_direction, direction, speed)` #### `jog_increment_angle(joint_id, increment, speed)` #### `jog_increment_coord(id, increment, speed)` #### `set_encoder(joint_id, encoder, speed)` #### `get_encoder(joint_id)` #### `set_encoders(encoders, speed)` #### `get_encoders()` ### 5. Running status and Settings #### `get_joint_min_angle(joint_id)` #### `get_joint_max_angle(joint_id)` #### `set_joint_min(id, angle)` #### `set_joint_max(id, angle)` ### 6. Joint motor control #### `is_servo_enable(servo_id)` #### `is_all_servo_enable()` #### `set_servo_calibration(servo_id)` #### `release_servo(servo_id)` #### `focus_servo(servo_id)` #### `set_servo_data(servo_id, data_id, value, mode=None）` #### `get_servo_data(servo_id, data_id, mode=None）` #### `joint_brake(joint_id）` ### 7. 9g Servo #### `move_round()` #### `set_four_pieces_zero()` ### 8. Servo state value #### `get_servo_speeds()` #### `get_servo_voltages()` #### `get_servo_status()` #### `get_servo_temps()` ### 9. Robotic arm end IO control #### `set_color(r, g, b)` #### `set_digital_output(pin_no, pin_signal)` #### `get_digital_input(pin_no)` #### `set_pin_mode(pin_no, pin_mode)` ### 10. Robotic arm end gripper control #### `set_gripper_state(flag, speed, _type_1=None)` #### `set_gripper_value(gripper_value, speed, gripper_type=None)` #### `gripper_stop()` #### `set_gripper_calibration()` #### `is_gripper_moving()` #### `get_gripper_value()` #### `set_pwm_output(channel, frequency, pin_val)` #### `set_HTS_gripper_torque(torque)` #### `get_HTS_gripper_torque()` #### `get_gripper_protect_current()` #### `set_gripper_protect_current(current)` #### `init_gripper()` ### 11. Set bottom IO input/output status #### `set_basic_output(pin_no, pin_signal)` #### `get_basic_input(pin_no)` ### 12. WLAN Setting #### `set_ssid_pwd(account, password)` #### `get_ssid_pwd()` #### `set_server_port(port)` ### 13. TOF #### `get_tof_distance()` ### 14. Communication mode #### `set_transponder_mode(mode)` #### `get_transponder_mode()` ### 15. Cartesian space coordinate parameter setting #### `set_tool_reference(coords)` #### `get_tool_reference(coords)` #### `set_world_reference(coords)` #### `get_world_reference()` #### `set_reference_frame(rftype)` #### `get_reference_frame()` #### `set_movement_type(move_type)` #### `get_movement_type()` #### `set_end_type(end)` #### `get_end_type()` ### 16. Raspberry pi -- GPIO #### `gpio_init()` #### `gpio_output(pin, v)` ### 17. utils (module) #### `utils.get_port_list()` #### `utils.detect_port_of_basic()` |
[링크 : https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md]
[링크 : https://github.com/elephantrobotics/pymycobot]
Gcode 읽어서 그거대로 움직이는 예제가 demo로 있다.
[링크 : https://github.com/elephantrobotics/pymycobot/tree/main/demo/myCobot_280_demo[
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