Python:

Communication Configuration CommunicationConfig

The robotic arm controller communicates with the user through the network port, WiFi, RS232-USB port, and RS485 port, and there is no need for users to switch when using. With any of the above ports, after receiving the command, the controller will return the data through the same port if the command format is correct. The following is a detailed description of the member functions of the communication configuration CommunicationConfig, including the method prototype, parameter description, return value, and usage demo.

Set the WiFi AP mode rm_set_wifi_ap()

• Method prototype:

rm_set_wifi_ap(self, wifi_name: str, password: str) -> int:

• Parameter description:

Parameter	Type	Description
wifi_name	str	WiFi name
password	str	WiFi password

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_wifi_ap("robot", "12345678"))

arm.rm_delete_robot_arm()

Set the WiFi STA mode rm_set_wifi_sta()

• Method prototype:

rm_set_wifi_sta(self, router_name: str, password: str) -> int:

• Parameter description:

Parameter	Type	Description
router_name	str	Router name
password	str	Router WiFi password

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_wifi_sta("robot", "12345678"))

arm.rm_delete_robot_arm()

Set the baud rate of the controller RS485 rm_set_RS485()

After the setting is successful, the buzzer rings.

• Method prototype:

rm_set_RS485(self, baudrate: int) -> int:

• Parameter description:

Parameter	Type	Description
baudrate	int	Baud rate: 9600, 19200, 38400, 115200, and 460800. If the user sets other values, the controller uses 460800 by default.

• Return value: State codes executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_RS485(115200))

arm.rm_delete_robot_arm()

Get the wired network informationrm_get_wired_net()

If the wired network is not connected, invalid data will be returned.

• Method prototype:

rm_get_wired_net(self) -> dict[str, any]:

• Return value:dict[str,any]: a dictionary containing the following keys

1. return_code (int): a state code executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

2. Network address

Parameter	Type	Description
ip	str	IP address
mask	str	Subnet mask
mac	str	MAC address

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_wired_net())

arm.rm_delete_robot_arm()

Get the WiFi network information rm_get_wifi_net()

• Method prototype:

rm_get_wifi_net(self) -> tuple[int, dict[str, any]]:

• Return value:dict[str,any]: a dictionary containing the following keys

1. return_code (int): a state code executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

2. WiFi network information

Parameter	Type	Description
rm_wifi_net_t	dict[str,any]	Dictionary of the WiFi network information, key: field of rm_wifi_net_t

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_wifi_net())

arm.rm_delete_robot_arm()

Restore the network factory default rm_set_net_default()

• Method prototype:

rm_set_net_default(self) -> int:

• Return value: State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_net_default())

arm.rm_delete_robot_arm()

Set the WiFi OFF rm_set_wifi_close()

It will be enabled after the restart.

• Method prototype:

rm_set_wifi_close(self) -> int:

• Return value: State codes executed by functions

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_wifi_close())

arm.rm_delete_robot_arm()