Merge remote-tracking branch 'origin/pythonAPI' into main

Author: Zachary Zhang

API/Python/README.md

@@ -10,3 +10,15 @@ cd <your-path>/myCobot/API/Python
 python3 setup install
 ```
 
+**_`example/test.py` is a test file, you can find out which interfaces pymycobot provides in `pymycobot/README.md`._**
+
+**Notes**:
+
+<!-- This is the mycobot Python API package designed by Zhang Lijun([[email protected]]()) -->
+
+> Make sure that `Atom2.3` is flashed into the top Atom <br> > `Transponder` is flashed into the base Basic <br>
+> The firmware `Atom2.3` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
+> Python 2: use mycobot.py <br>
+> Python 3: use mycobot3.py
+
+-

API/Python/pymycobot/README.md

@@ -0,0 +1,368 @@
+# ros-python-api
+
+**This is python API for mycobot.**
+
+We support Python2, Python3.5 or later. If you want to use the api, make sure `pyserial` is installed.
+
+```bash
+pip2 install pyserial
+# or
+pip3 install pyserial
+```
+
+**Class**:
+
+- [MyCobot](##MyCobot)
+- [Angle](##Angle)
+- [Coord](##Coord)
+
+## MyCobot
+
+### MyCobot.power_on()
+
+- **Description**
+
+  Robot arm power up.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.power_off()
+
+- **Description**
+
+  Robot arm power down.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.set_free_mode()
+
+- **Description**
+
+  Robot arm into free moving mode.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.get_angles()
+
+- **Description**
+
+  Get the degree of all joints.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  A float list of degree.
+
+### MyCobot.get_angles_by_radian()
+
+- **Description**
+
+  Get the radians of all joints.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  A float list of radian.
+
+### MyCobot.send_angle()
+
+- **Description**
+
+  Send one degree of joint to robot arm.
+
+- **Parameters**
+
+  id: Joint id(common.Angle)
+
+  degree: degree value(float)
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+- **Example**
+
+  ```python
+  from pymycobot.mycobot import MyCobot
+  from pymycobot.common import Angle
+
+
+  mycobot = MyCobot('/dev/ttyUSB0')
+  mycobot.send_angle(Angle.J2.value, 10, 50)
+  ```
+
+### MyCobot.send_angles()
+
+- **Description**
+
+  Send the degrees of all joints to robot arm.
+
+- **Parameters**
+
+  degrees: a list of degree value(List[float])
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+- **Example**
+
+  ```python
+  from pymycobot.mycobot import MyCobot
+  from pymycobot.common import Angle
+
+
+  mycobot = MyCobot('/dev/ttyUSB0')
+  mycobot.send_angles([0,0,0,0,0,0], 80)
+  ```
+
+### MyCobot.send_angles_by_radian()
+
+- **Description**
+
+  Send the radians of all joint to robot arm.
+
+- **Parameters**
+
+  degrees: a list of radian value(List[float])
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+- **Example**
+
+  ```python
+  from pymycobot.mycobot import MyCobot
+  from pymycobot.common import Angle
+
+
+  mycobot = MyCobot('/dev/ttyUSB0')
+  mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
+  ```
+
+### MyCobot.get_coords()
+
+- **Description**
+
+  Get the Coords from robot arm.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  A float list of coord.
+
+### MyCobot.send_coord()
+
+- **Description**
+
+  Send one coord to robot arm.
+
+- **Parameters**
+
+  id: coord name(common.Coord)
+
+  coord: coord value(float)
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+- **Example**
+
+  ```python
+  from pymycobot.mycobot import MyCobot
+  from pymycobot.common import Coord
+
+
+  mycobot = MyCobot('/dev/ttyUSB0')
+  mycobot.send_coord(Coord.X.value, -40, 70)
+  ```
+
+### MyCobot.send_coords()
+
+- **Description**
+
+  Send all coords to robot arm.
+
+- **Parameters**
+
+  coords: a list of coords value(List[float])
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+- **Example**
+
+  ```python
+  from pymycobot.mycobot import MyCobot
+  from pymycobot.common import Coord
+
+
+  mycobot = MyCobot('/dev/ttyUSB0')
+  mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
+  ```
+
+### MyCobot.set_color()
+
+- **Description**
+
+  Set the color of the light on the top of the robot arm.
+
+- **Parameters**
+
+  rgb: (string) like: "FF0000"
+
+- **Returns**
+
+  None
+
+### MyCobot.is_moving()
+
+- **Description**
+
+  Judge whether the manipulator is moving or not.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  bool: `True` - moving, `False` - not moving.
+
+### MyCobot.pause()
+
+- **Description**
+
+  Pause movement.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.resume()
+
+- **Description**
+
+  Recovery movement.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.stop()
+
+- **Description**
+
+  Stop moving.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  None
+
+### MyCobot.is_pause()
+
+- **Description**
+
+  Judge whether the manipulator pauses or not.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  bool: `True` - pause, `False` - not pause.
+
+### MyCobot.get_speed()
+
+- **Description**
+
+  Get speed.
+
+- **Parameters**
+
+  None
+
+- **Returns**
+
+  speed: (int)
+
+### MyCobot.set_speed()
+
+- **Description**
+
+  Set speed.
+
+- **Parameters**
+
+  speed: (int)
+
+- **Returns**
+
+  None
+
+## Angle
+
+**Description**
+
+Instance class of joint. It's recommended to use this class to select joint.
+
+## Coord
+
+**Description**
+
+Instance class of coord. It's recommended to use this class to select coord.
+
+---

API/Python/pymycobot/__init__.py

@@ -1,4 +1,5 @@
 from __future__ import absolute_import
 
-__all__ = ['mycobot', 'common']
+__all__ = ['mycobot', 'mycobot3', 'common']
 
+#