1、The robot arm swings left and right

Introduction of API

API used to control the robot arm swings left anf right is:

1、MyCobot(port)

Function: Initialize a MyCobot object.

Parameter Description: port:The type of data is String, is the port number that controls the robot arm, and the windows system can view it at the port in Device Manager.

2、get_angles()

Function: Get the angle of the six joint points of the robot arm

Return Value: The type of return value is list, with six elemental data, corresponding to joints 1 to 6.

3、send_angles(degrees,speed)

Function: Set the angle of six joint points at a time.

Parameter Description:

degrees:The type of parameter is list. The angle data for the six joint points must be included. The angle value range of the six joint points is -180 to 180.

speed:The type pf data is int, value range 0~100. Represents the speed at which the robot arm runs to the specified position, and the higher the value, the greater the speed.

4、send_angle(id, degree, speed)

Function: Set the angle of a single joint.

Parameter Description

id:Represents the joints of the robotic arm, a total of six joints, with a specific representation. For example, joint1 can be: Angle.J1.value

degree:Represents the angle of the joint, value range -180 to 180.

speed:Represents the speed of the robot arm

5、release_all_servos()

Function: Release the robot arm, let it swing manually at will.

Content of code

from pymycobot.mycobot import MyCobot
from pymycobot.genre import Angle
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of myCobot, you can refer to these two variables for MyCobot initialization
import time

# Initialize a myCobot object
mc = MyCobot(PI_PORT, PI_BAUD)

# Get the coordinates of the current location
angle_datas = mc.get_angles()
print(angle_datas)

# Pass coordinate parameters with a number of columns, let the robot arm move to the specified position
mc.send_angles([0, 0, 0, 0, 0, 0], 50)
print(mc.is_paused())
# Set the wait time to ensure that the robot arm has reached the specified position
# while not mc.is_paused():
time.sleep(2.5)

# Move joint 1 to the position of 90
mc.send_angle(Angle.J1.value, 90, 50)

# Set the wait time to ensure that the robot arm has reached the specified position
time.sleep(2)

# Set the number of cycles
num = 5

# Let the robot arm swing left and right
while num > 0:
    # Move joint 2 to the position of 50
    mc.send_angle(Angle.J2.value, 50, 50)

    # Set the wait time to ensure that the robot arm has reached the specified position
    time.sleep(1.5)

    # Move joint 2 to the position of -50
    mc.send_angle(Angle.J2.value, -50, 50)

    # Set the wait time to ensure that the robot arm has reached to the specified position
    time.sleep(1.5)

    num -= 1

# Let the robot arm shrink. You can swing the robot arm manually and then use the get_angles() function to get the number of coordinate columns.
# Use this function to get the robot arm to where you want it to be.
mc.send_angles([88.68, -138.51, 155.65, -128.05, -9.93, -15.29], 50)

# Set the wait time to ensure that the robot arm has reached to the specified position
time.sleep(2.5)

# Release the robot arm, let it swing manually at will 
mc.release_all_servos()

Effects as shown

2

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