0.0.5 • Published 2 years ago

@marcbuils/mybuddy v0.0.5

Weekly downloads
-
License
ISC
Repository
github
Last release
2 years ago

mybuddy

This is javascript API for mybuddy.

MyBuddy

Import to your project:

// basic demo
var mybuddy = require("@marcbuils/mybuddy")

// obj Based on SerialPort
var obj = mybuddy.connect("/dev/ttyACM0",115200)

obj.write(mybuddy.powerOn(0))

obj.on("data",(data)=>{
    res = mybuddy.processReceived(data)
    console.log("res:", res)
})

Overall status

connect

  • Prototype: connect(deviceId, port, baud)

  • Description: Create objects, connect devices (default open).

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

powerOn

  • Prototype: powerOn(deviceId)

  • Description: Atom open communication (default open).

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

powerOff

  • Prototype: powerOff(deviceId)

  • Description: Atom turn off communication.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

isPowerOn

  • Prototype: isPowerOn(deviceId)

  • Description: Adjust robot arm whether power on.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns

    • 1: power on
    • 0: power off

releaseAllServos

  • Prototype: releaseAllServos(deviceId)

  • Description: Set robot arm into free moving mode.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

MDI mode and operation

getAngles

  • Prototype: getAngles(deviceId)

  • Description: Get the degree of all joints.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns: object: A float list of all degree.

sendAngle

  • Prototype: sendAngle(deviceId, id, degree, speed)

  • Description: Send one degree of joint to robot arm.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • id: Joint id
    • degree: degree value(number)
    • speed: (number) 0 ~ 100

  • Example

    obj.write(mybuddy.sendAngle(0, 1, 50, 50))

sendAngles

  • Prototype: sendAngles(deviceId, angles, speed)

  • Description: Send the degrees of all joints to robot arm.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • angles: a list of degree value(Array).
    • speed: (number) 0 ~ 100

  • Example

    obj.write(mybuddy.sendAngles(0, [0,0,0,0,0,0], 60))

getCoords

  • Prototype: getCoords(deviceId)

  • Description: Get the Coords from robot arm, coordinate system based on base.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns: object: A float list of coord - mybuddy:[x, y, z, rx, ry, rz]; mypalletizer:[x, y, z, θ]

sendCoord

  • Prototype: sendCoord(deviceId, id, coord, speed)

  • Description: Send one coord to robot arm.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • id: coord id
    • coord: coord value(number)
    • speed: (number) 0 ~ 100

  • Example

    obj.write(mybuddy.sendCoord(0, x, 20, 50))

sendCoords

  • Prototype: sendCoords(deviceId, coords, speed, mode)

  • Description: Send all coords to robot arm.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • coords: a list of coords value(Array).
    • speed: (number) 0 ~ 100
    • mode: 0 - angular, 1 - linear

  • Example

    obj.write(mybuddy.sendCoords(0, [160, 160, 160, 0, 0, 0], 70, 0))

isInPosition

  • Prototype: isInPosition(deviceId, data, flag)

  • Description: Judge whether in the position.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • data: A data list, angles or coords.
    • flag: Tag the data type, 0 - angles, 1 - coords.

  • Returns

    • 1 - true
    • 0 - false

JOG mode and operation

jogAngle

  • Prototype: jogAngle(deviceId, jointId, direction, speed)

  • Description: Jog control angle

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • jointId: (int) 1 ~ 6
    • direction: 0 - decrease, 1 - increase
    • speed: 0 ~ 100

jogCoord

  • Prototype: jogCoord(deviceId, coordId, direction, speed)

  • Description: Jog control coord.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • coordId: (int) 1 ~ 6
    • direction: 0 - decrease, 1 - increase
    • speed: 0 ~ 100

jogStop

  • Prototype: jogStop(deviceId)

  • Description: Stop jog moving.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

programPause

  • Prototype: programPause(deviceId)

  • Description: Pause movement.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

programResume

  • Prototype: programResume(deviceId)

  • Description: Recovery movement.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

stop

  • Prototype: stop(deviceId)

  • Description: Stop moving.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

setEncoder

  • Prototype: setEncoder(deviceId, jointId, encoder)

  • Description: Set a single joint rotation to the specified potential value.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • jointId: 1 ~ 6
    • encoder: 0 ~ 4096

getEncoder

  • Prototype: getEncoder(deviceId, jointId)

  • Description: Obtain the specified joint potential value.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • jointId: 1 ~ 6

  • Returns: encoder: 0 ~ 4096

setEncoders

  • Prototype: setEncoders(deviceId, encoders, speed)

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

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • encoders: A encoder list, length 6.
    • speed: 0 - 100

getEncoders

  • Prototype: getEncoders(deviceId)

  • Description: Get the all joints of the manipulator.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns: the list of encoder (Array)

Running status and Settings

getSpeed

  • Prototype: getSpeed(deviceId)

  • Description: Get speed.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns: speed

setSpeed

  • Prototype: setSpeed(deviceId, speed)

  • Description: Set speed.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • speed: 0 ~ 100

getJointMin

  • Prototype: getJointMin(deviceId, jointId)

  • Description: Gets the minimum movement angle of the specified joint.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • jointId

  • Returns: angle value (float)

getJointMax

  • Prototype: getJointMax(deviceId, jointId)

  • Description: Gets the maximum movement angle of the specified joint.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • jointId

  • Returns: angle value (float)

Servo control

isServoEnable

  • Prototype: isServoEnable(deviceId, servoId)

  • Description: Determine whether all steering gears are connected.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servoId: 1 ~ 6

  • Returns

    • 0: disable
    • 1: enable

isAllServoEnable

  • Prototype: isAllServoEnable(deviceId)

  • Description: Determine whether the specified steering gear is connected.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns

    • 0: disable
    • 1: enable

setServoData

  • Prototype: setServoData(deviceId, servo_no, dataId, value)

  • Description: Set the data parameters of the specified address of the steering gear.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servo_no: Serial number of articulated steering gear, 1 - 6.
    • dataId: Data address.
    • value: 0 - 4096

getServoData

  • Prototype: getServoData(deviceId, servo_no, dataId)

  • Description: Read the data parameter of the specified address of the steering gear.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servo_no: Serial number of articulated steering gear, 1 - 6.
    • dataId: Data address.

  • Returns: value: 0 - 4096

    • 0: disable
    • 1: enable
    • -1: error

setServoCalibration

  • Prototype: setServoCalibration(deviceId, servo_no)

  • Description: The current position of the calibration joint actuator is the angle zero point, and the corresponding potential value is 2048.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servo_no: Serial number of articulated steering gear, 1 - 6.

releaseServo

  • Prototype: releaseServo(deviceId, servoId)

  • Description: Power off designated servo.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servoId: 1 ~ 6

focusServo

  • Prototype: focusServo(deviceId, servoId)

  • Description: Power on designated servo.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • servoId: 1 ~ 6

Atom IO

setColor

  • Prototype: setColor(deviceId, r, g, b)

  • Description: Set the color of the light on the top of the robot arm.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • r: 0 ~ 255
    • g: 0 ~ 255
    • b: 0 ~ 255

setPinMode

  • Prototype: setPinMode(deviceId, pin_no, pinMode)

  • Description: Set the state mode of the specified pin in atom.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • pin_no: Pin number.
    • pinMode: 0 - input, 1 - output, 2 - inputPullup

setDigitalOutput

  • Prototype: setDigitalOutput(deviceId, pin_no, pinSignal)

  • Description: Set the digital output of a pin.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • pin_no
    • pinSignal: 0 / 1

getDigitalInput

  • Prototype: getDigitalInput(deviceId, pin_no)

  • Description: Get the digital input of a pin.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • pin_no

  • Returns: signal value

getGripperValue

  • Prototype: getGripperValue(deviceId)

  • Description: Get gripper value.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns: gripper value

setGripperState

  • Prototype: setGripperState(deviceId, flag, speed)

  • Description: Set gripper switch state.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • flag: 0 - open, 1 - close
    • speed: 0 ~ 100

setGripperValue

  • Prototype: setGripperValue(deviceId, value, speed)

  • Description: Set gripper value.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • value: 0 ~ 100
    • speed: 0 ~ 100

setGripperIni

  • Prototype: setGripperIni(deviceId)

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

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

isGripperMoving

  • Prototype: isGripperMoving(deviceId)

  • Description: Judge whether the gripper is moving or not.

  • Parameters:

    • deviceId: 0/1/2/3 (ALL/L/R/W)

  • Returns

    • 0: not moving
    • 1: is moving

Basic

setBasicOutput

  • Prototype: setBasicOutput(deviceId, pin_no, pinSignal)

  • Description: Set bottom pin.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • pin_no: Pin number.
    • pinSignal: 0 / 1

getBasicOutput

  • Prototype: getBasicOutput(deviceId, pin_no)

  • Description: Get bottom pin.

  • Parameters

    • deviceId: 0/1/2/3 (ALL/L/R/W)
    • pin_no: Pin number.

More demo can go to here.

serialport
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