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
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
3.1 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
4.1 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 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
4.4 SetElectricGriper (byte open)
Function: Control electric gripper
Return value: None
Parameter description: Claw switch status (0- off, 1- on)
4.5 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
5.1 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