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@marcbuils/mybuddy

0.0.6
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This is a javascript API for mybuddy serial communication

Package Exports

  • @marcbuils/mybuddy
  • @marcbuils/mybuddy/src/index.js

This package does not declare an exports field, so the exports above have been automatically detected and optimized by JSPM instead. If any package subpath is missing, it is recommended to post an issue to the original package (@marcbuils/mybuddy) to support the "exports" field. If that is not possible, create a JSPM override to customize the exports field for this package.

Readme

mybuddy

This is javascript API for mybuddy.

Catalogue:

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.