This is a package that uses Python to control products such as Mirobot robotic arms, E4 robotic arms, MT4 robotic arms,slides, conveyor belts, etc. This package mainly communicates through pyserial and G code protocols. Currently, it supports RS485 or UART communication. It should be noted that when using this package, a multi-functional controller is required, as some functions of the modified package use multi-functional controllers. If the mechanical arm is directly connected, some functions may not be effective.
Wlkatapython is a Python package used to control products such as Mirobot robotic arms, E4 robotic arms, slides, conveyor belts, etc.
This component uses the G code protocol to communicate with the Mirobot over a serial connection.
The official G code instruction set and driver download can be found at the WLkata Download Page
import wlkatapython
import serial
import time
"Robot arm returns to zero"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, 1) # Set the address of the robotic arm
Mirobot1.homing() # Robot arm zeroing
Serial1.close() # Close serial portimport wlkatapython
import serial
"Execute offline files"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, 1) # Set the address of the robotic arm
Mirobot1.runFile ("ceshi", False) # Execute a file in a loop. True is the loop execution file, and False is the single execution file
Serial1.close() # Close serial portimport wlkatapython
import serial
import time
"Stop the current program"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, 1) # Set the address of the robotic arm
Mirobot1.runFile ("ceshi", True) # Loop execution of a file, True is the loop execution file, False is the single execution file
time.sleep (5) # Wait for 5 seconds
Mirobot1.cancelation() # Stop the currently running program
Serial1.close() # Close serial port
import wlkatapython
import serial
import time
"Robot arm returns to zero"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, -1) # Set the address of the robotic arm
Mirobot1.homing() # Robot arm zeroing
Serial1.close() # Close serial portimport wlkatapython
import serial
"Execute offline files"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, -1) # Set the address of the robotic arm
Mirobot1.runFile ("ceshi", False) # Execute a file in a loop. True is the loop execution file, and False is the single execution file
Serial1.close() # Close serial portimport wlkatapython
import serial
import time
"Stop the current program"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
Mirobot1=wlkatapython.Mirobot_UART() # Create a new mirobot1 object
Mirobot1.init (serial1, -1) # Set the address of the robotic arm
Mirobot1.runFile ("ceshi", True) # Loop execution of a file, True is the loop execution file, False is the single execution file
time.sleep (5) # Wait for 5 seconds
Mirobot1.cancelation() # Stop the currently running program
Serial1.close() # Close serial port
Mainly used for debugging the Cartesian positioning of robotic arms on devices that are inconvenient to install and use with Wlkatastudio.
import wlkatapython
"""
Mirobot_Serial_GUI
"""
Mirobot_GUI=wlkatapython.Mirobot_Serial_GUI()
Mirobot_GUI.Mirobot_GUI()
import wlkatapython
import serial
"Robot arm returns to zero"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, 1) # Set the address of the robotic arm
MT4_1.homeing() # Robot arm zeroing
Serial1.close() # Close serial portimport wlkatapython
import serial
"Execute offline files"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, 1) # Set the address of the robotic arm
MT4_1.runFile ("ceshi", False) # Execute a file in a loop. True is the loop execution file, and False is the single execution file
Serial1.close() # Close serial portimport wlkatapython
import serial
import time
"Stop the current program"
Serial1=serial.Serial ("COM3", 38400) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, 1) # Set the address of the robotic arm
MT4_1.runFile ("ceshi", True) # Loop execution of a file, True is the loop execution file, False is the single execution file
time.sleep (5) # Wait for 5 seconds
MT4_1.cancelation() # Stop the currently running program
Serial1.close() # Close serial port
import wlkatapython
import serial
"Robot arm returns to zero"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, -1) # Set the address of the robotic arm
MT4_1.homing() # Robot arm zeroing
Serial1.close() # Close serial portimport wlkatapython
import serial
"Execute offline files"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, -1) # Set the address of the robotic arm
MT4_1.runFile ("ceshi", False) # Execute a file in a loop. True is the loop execution file, and False is the single execution file
Serial1.close() # Close serial portimport wlkatapython
import serial
import time
"Stop the current program"
Serial1=serial.Serial ("COM3", 115200) # Set serial port and baud rate
MT4_1=wlkatapython.MT4_UART() # Create a new MT4_1 object
MT4_1.init (serial1, -1) # Set the address of the robotic arm
MT4_1.runFile ("ceshi", True) # Loop execution of a file, True is the loop execution file, False is the single execution file
time.sleep (5) # Wait for 5 seconds
MT4_1.cancelation() # Stop the currently running program
Serial1.close() # Close serial port
import wlkatapython
import serial
import time
Serial1=serial.Serial ("COM3", 38400)
MS4220_1=wlkatapython.MS4220_UART()
MS4220_1.init(Serial1,10)
MS4220_1.speed(100)
time.sleep(5)
MS4220_1.speed(-100)
time.sleep(5)
MS4220_1.speed(0)Please contact wlkata personnel for further instructions.WLkata Download Page