Mycobot NPM | npm.io

mycobot

This is javascript API for mycobot.

MyCobot

Import to your project:

// basic demo
var mycobot = require("mycobot")

// obj Based on SerialPort
var obj = mycobot.connect("COM15",115200)

obj.write(mycobot.powerOn())

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

Overall status

connect

Prototype: connect(port, baud)
Description:Create objects, connect devices (default open).

powerOn

Prototype: powerOn()
Description:Atom open communication (default open).

powerOff

Prototype: powerOff()
Description: Atom turn off communication.

isPowerOn

Prototype: isPowerOn()
Description: Adjust robot arm whether power on.
Returns
- 1: power on
- 0: power off

releaseAllServos

Prototype: releaseAllServos()
Description: Set robot arm into free moving mode.

MDI mode and operation

getAngles

Prototype: getAngles()
Description: Get the degree of all joints.
Returns: object: A float list of all degree.

sendAngle

Prototype: sendAngle(id, degree, speed)
Description: Send one degree of joint to robot arm.
Parameters
- id: Joint id
- degree: degree value(number)
- speed: (number) 0 ~ 100
Example
```
obj.write(mycobot.sendAngle(1,50,50))
```

sendAngles()

Prototype: sendAngles(angles, speed)
Description: Send the degrees of all joints to robot arm.
Parameters
- degrees: a list of degree value(Array).
- speed: (number) 0 ~ 100

Example

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

getCoords

Prototype: getCoords()
Description: Get the Coords from robot arm, coordinate system based on base.
Returns: object: A float list of coord - mycobot:[x, y, z, rx, ry, rz]; mypalletizer:[x, y, z, θ]

sendCoord

Prototype: sendCoord(id, coord, speed)
Description: Send one coord to robot arm.
Parameters
- id: coord id
- coord: coord value(number)
- speed: (number) 0 ~ 100
Example
```
obj.write(mycobot.sendCoord(x,20,50))
```

sendCoords

Prototype: sendCoords(coords, speed, mode)
Description: Send all coords to robot arm.
Parameters
- coords: a list of coords value(Array).
- speed: (number) 0 ~ 100
- mode: 0 - angular, 1 - linear

Example

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

isInPosition

Prototype: isInPosition(data, flag)
Description: Judge whether in the position.
Parameters
- 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(jointId, direction, speed)
Description: Jog control angle
Parameters
- jointId: (int) 1 ~ 6
- direction: 0 - decrease, 1 - increase
- speed: 0 ~ 100

jogCoord

Prototype: jogCoord(coordId, direction, speed)
Description: Jog control coord.
Parameters
- coordId: (int) 1 ~ 6
- direction: 0 - decrease, 1 - increase
- speed: 0 ~ 100

jogStop

Prototype: jogStop()
Description: Stop jog moving.

programPause

Prototype: programPause()
Description: Pause movement.

programResume

Prototype: programResume()
Description: Recovery movement.

stop

Prototype: stop()
Description: Stop moving.

setEncoder

Prototype: setEncoder(jointId, encoder)
Description: Set a single joint rotation to the specified potential value.
Parameters
- jointId: 1 ~ 6
- encoder: 0 ~ 4096

getEncoder

Prototype: getEncoder(jointId)
Description:Obtain the specified joint potential value.
Parameters: jointId: 1 ~ 6
Returns: encoder: 0 ~ 4096

setEncoders

Prototype: setEncoders(encoders, speed)
Description: Set the six joints of the manipulator to execute synchronously to the specified position.
Parameters:
- encoders: A encoder list, length 6.
- speed: 0 - 100

getEncoders

Prototype: getEncoders()
Description: Get the all joints of the manipulator.
Returns: the list of encoder (Array)

Running status and Settings

getSpeed

Prototype: getSpeed()
Description: Get speed.
Returns: speed

setSpeed

Prototype: setSpeed(speed)
Description: Set speed.
Parameters: speed: 0 ~ 100

getJointMin

Prototype: getJointMin(jointId)
Description: Gets the minimum movement angle of the specified joint
Parameters: jointId
Returns: angle value (float)

getJointMax

Prototype: getJointMax(jointId)
Description: Gets the maximum movement angle of the specified joint
Parameters: jointId
Returns: angle value (float)

Servo control

isServoEnable

Prototype: isServoEnable(servoId)
Description: Determine whether all steering gears are connected
Parameters: servoId 1 ~ 6
Returns
- 0: disable
- 1: enable

isAllServoEnable

Prototype: isAllServoEnable()
Description: Determine whether the specified steering gear is connected
Returns
- 0: disable
- 1: enable

setServoData

Prototype: setServoData(servo_no, dataId, value)
Description: Set the data parameters of the specified address of the steering gear.
Parameters:
- servo_no: Serial number of articulated steering gear, 1 - 6.
- dataId: Data address.
- value: 0 - 4096

getServodata

Prototype: getServodata(servo_no, dataId)
Description: Read the data parameter of the specified address of the steering gear.
Parameters:
- 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(servo_no)
Description: The current position of the calibration joint actuator is the angle zero point, and the corresponding potential value is 2048.
Parameters:
- servo_no: Serial number of articulated steering gear, 1 - 6.

releaseServo

Prototype: releaseServo(servoId)
Description: Power off designated servo
Parameters: servoId: 1 ~ 6

focusServo

Prototype: focusServo(servoId)
Description: Power on designated servo
Parameters: servoId: 1 ~ 6

Atom IO

setColor

Prototype: setColor(r, g, b)
Description: Set the color of the light on the top of the robot arm.
Parameters
- r: 0 ~ 255
- g: 0 ~ 255
- b: 0 ~ 255

setPinMode

Prototype: setPinMode(pin_no, pinMode)
Description: Set the state mode of the specified pin in atom.
Parameters
- pin_no : Pin number.
- pinMode : 0 - input, 1 - output, 2 - inputPullup