mybuddy

This is javascript API for mybuddy.

• mybuddy
• MyBuddy
  • Overall status
    • connect
    • powerOn
    • powerOff
    • isPowerOn
    • releaseAllServos
  • MDI mode and operation
    • getAngles
    • sendAngle
    • sendAngles
    • getCoords
    • sendCoord
    • sendCoords
    • isInPosition
  • JOG mode and operation
    • jogAngle
    • jogCoord
    • jogStop
    • programPause
    • programResume
    • stop
    • setEncoder
    • getEncoder
    • setEncoders
    • getEncoders
  • Running status and Settings
    • getSpeed
    • setSpeed
    • getJointMin
    • getJointMax
  • Servo control
    • isServoEnable
    • isAllServoEnable
    • setServoData
    • getServoData
    • setServoCalibration
    • releaseServo
    • focusServo
  • Atom IO
    • setColor
    • setPinMode
    • setDigitalOutput
    • getDigitalInput
    • getGripperValue
    • setGripperState
    • setGripperValue
    • setGripperIni
    • isGripperMoving
  • Basic
    • setBasicOutput
    • getBasicOutput

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.