pymycobot 3.5.0.dev7__tar.gz → 3.5.0.dev9__tar.gz

pymycobot-3.5.0.dev9/PKG-INFO

@@ -0,0 +1,1459 @@
+Metadata-Version: 2.1
+Name: pymycobot
+Version: 3.5.0.dev9
+Summary: Python API for serial communication of MyCobot.
+Home-page: https://github.com/elephantrobotics/pymycobot
+Author: Elephantrobotics
+Author-email: weiquan.xu@elephantrobotics.com
+Classifier: Programming Language :: Python :: 2.7
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*
+Description-Content-Type: text/markdown
+License-File: LICENSE
+
+# 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).