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roarm_m2

Python API Instructions for use

from roarm_sdk.roarm import roarm
# Serial communication example
roarm = roarm(roarm_type="roarm_m2", port="/dev/ttyUSB0", baudrate=115200)

# Http communication example
# Note: HTTP communication needs to be connected to the same wifi first, and host is the IP address of the robotic arm.
#roarm = roarm(roarm_type="roarm_m2", host="192.168.4.1")

# Get the current angles of all joints
value = roarm.joints_angle_get()
print(value)

# Move joint 1 to 90 degrees, set the speed to 1000 step/s, and set the acceleration to 50 steps/s^2
roarm.joint_angle_ctrl(joint=1,angle=90,speed=1000,acc=50)

1. Overall operating status

echo_set(cmd)

  • Function: Set echo mode

  • Parameters:

    • cmd: [0, 1], type : int
    • 0: Turn off echo mode
    • 1: Turn on echo mode

middle_set()

  • Function: Calibrate current position to neutral

move_init()

  • Function: Move to initial position

led_ctrl(led)

  • Function: Ctrl led brightness

  • Parameters:

    • led: [0, 255], type : int

    • 0: darkest

    • 255: brightest

torque_set(cmd)

  • Function: Set whether the torque of all joints is turned on

  • Parameters:

    • cmd: [0, 1], type : int

    • 0: Turn off all joint moments

    • 1: Turn on torque for all joints

dynamic_adaptation_set(mode, torques)

  • Function: Set the torque adaptive mode of all joints

  • Parameters:

    • mode: [0, 1], type : int

    • 0: Turn off torque adaptive mode

    • 1: Turn on torque adaptive mode

    • torques: [0, 1000], type : list[int]，unit : 0.1%, which is the percentage of stalled torque. 1000 is 100%.

    -[Joint 1 torque threshold, Joint 2 torque threshold, Joint 3 torque threshold, Joint 4 torque threshold]

    • Torque threshold in torque adaptive mode, beyond which the joint rotates with external force

feedback_get()

  • Function: Get feedback from all joints

  • Return: list[float]

    • [Coordinate x, coordinate y, coordinate z, joint 1 radian, joint 2 radian, joint 3 radian, joint 4 radian, joint 1 torque, joint 2 torque, joint 3 torque, joint 4 torque]

    • coordinate unit : mm, radian unit : rad, torque unit : 0.1%，That is, the percentage of stalled torque, 1000 is 100%

2. Joint control

joint_radian_ctrl(joint, radian, speed, acc)

  • Function: Move the specified joint to the specified radian

  • Parameters:

    • joint: [1, 4], type : int

    • radian: type : float，unit : rad

    • 1: joint 1，[-3.1415926, 3.1415926]

    • 2: joint 2, [-1.5707963, 1.5707963]

    • 3: joint 3，[-0.8726646, 3.1415926]

    • 4: joint 4, [0, 1.5707963]

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^

joints_radian_ctrl(radians, speed, acc)

  • Function: Move all joints to a specified radian

  • Parameters:

    • radians: type : list[float]

    • [Joint 1 radians, Joint 2 radians, Joint 3 radiansans, Joint 3 radians, Joint 4 radians]

    • 1: joint 1，[-3.1415926, 3.1415926]

    • 2: joint 2，[-1.5707963, 1.5707963]

    • 3: joint 3，[-0.8726646, 3.1415926]

    • 4: joint 4, [0, 1.5707963]

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^2

joints_radian_get()

  • Function: Get the radians of all joints

  • Return: list[float], unit : rad

    • [Joint 1 radian, Joint 2 radian, Joint 3 radian, Joint 4 radian]

joint_angle_ctrl(joint, angle, speed, acc)

  • Function: Move the specified joint to the specified angle

  • Parameters:

    • joint: [1, 4], type : int

    • angle: type : float，unit : degree

    • 1: joint 1，[-180, 180]

    • 2: joint 2，[-90, 90]

    • 3: joint 3，[-50, 180]

    • 4: joint 4，[0, 90]

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^2

joints_angle_ctrl(angles, speed, acc)

  • Function: Move all joints to specified angles

  • Parameters:

    • angles: type : list[float]

    • [joint1 angle, joint2 angle, joint3 angle, joint4 angle]

    • 1: joint 1，[-180, 180]

    • 2: joint 2，[-90, 90]

    • 3: joint 3，[-50, 180]

    • 4: joint 4，[0, 90]

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^2

joints_angle_get()

  • Function: Get the angles of all joints

  • Return: list[float], unit : degree

    • [joint1 angle, joint2 angle, joint3 angle, joint4 angle]

drag_teach_start(filename)

  • Function: Start dragging tutorial

  • Parameters:

    • filename: filename, type : str

drag_teach_replay(filename)

  • Function: Play drag and drop tutorial

  • Parameters:

    • filename: filename, type : str

3. Gripper control

gripper_mode_set(mode)

  • Function: Set gripper mode

  • Parameters:

    • mode: [0, 1], type : int

    • 0: gripper mode

    • 1: wrist mode

gripper_radian_ctrl(radian, speed, acc)

  • Function: Move the gripper to a specified radian

  • Parameters:

    • radian: [0, 1.5707963], type : float，unit : rad

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^2

gripper_angle_ctrl(angle, speed, acc)

  • Function: Move the gripper to a specified angle

  • Parameters:

    • angle: [0, 90], type : float，unit : degree

    • speed: [1, 4096], type : int，unit : step/s

    • acc: [1, 254], type : int，unit : step/s^2

gripper_radian_get()

  • Function: Get the radian of the gripper

  • Return: float, unit : rad

gripper_angle_get()

  • Function: Get the angle of the gripper

  • Return: float, unit : degree

4. Position control

pose_ctrl(pose)

  • Function: Move to specified position

  • Parameters:

    • pose: type : list[float]

    • [coordinate x, coordinate y, coordinate z, gripper angle]

    • coordinate unit: mm, angle unit : degrees

pose_get()

  • Function: Get current position

  • Return: list[float]

  • [coordinate x, coordinate y, coordinate z, gripper angle]

  • coordinate unit: mm, angle unit : degrees

5. WiFi control

wifi_on_boot(wifi_cmd)

  • Function: Set WiFi mode at startup

  • Parameters:

    • wifi_cmd: [0, 3], type : int

    • 0: Turn off WiFi

    • 1: AP mode

    • 2: STA mode

    • 3: AP+STA mode

ap_set(ssid, password)

  • Function: Set WiFi name and password in AP mode

-Parameters:

  • ssid: type : str

  • password: type : str

sta_set(ssid, password)

  • Function: Set WiFi name and password in STA mode

  • Parameters:

    • ssid: type : str

    • password: type : str

apsta_set(ap_ssid, ap_password, sta_ssid, sta_password)

  • Function: Set WiFi name and password in AP+STA mode

  • Parameters: -ap_ssid: type : str

    -ap_password: type : str

    -sta_ssid: type : str

    -sta_password: type : str

wifi_info_get()

  • Function: Get WiFi information

  • **Return:**list[str] -[WiFi mode at startup, STA name, STA password, AP name, AP password, ip address, WIFI signal strength in STA mode]

wifi_config_creat_by_status()

  • Function: Generate WiFi configuration file based on current WiFi status

wifi_config_creat_by_input(ap_ssid, ap_password, sta_ssid, sta_password)

  • Function: Generate WiFi configuration file based on input

  • Parameters:

    • ap_ssid: type : str

    • ap_password: type : str

    • sta_ssid: type : str

    • sta_password: type : str

wifi_stop()

  • Function: Turn off WiFi