WlkataC

wlkataC version 0.1.0

License: MIT

IMPORTANT!!!

This is a package that uses C++ to control Mirobot robotic arms, E4 robotic arms, MT4 robotic arms, sliders, conveyor belts, and other products. This package mainly communicates through serial and G-code protocols. Currently, it supports RS485 or UART communication. It should be noted that a multifunctional controller is required when using this software package, as some functions of the modified software package use a multifunctional controller. If the robotic arm is directly connected, some functions may be ineffective.

Description

WlkataC is a C++package used to control Mirobot robotic arms, E4 robotic arms, MT4 robotic arms, slides, conveyors, and other products.

This component uses the G code protocol to communicate with the Mirobot over a serial connection.

The official G-code instruction set and drivers are available at the WLkata Download Page.

Supported Devices

Mirobot (UART/RS485)
MT4 (UART/RS485)
E4 (UART/RS485)
Haro380 (UART/RS485)
MS4220 stepper driver (RS485)

Build & Dependencies

Requirements:
- CMake ≥ 3.22
- C++23 compiler
- Serial library embedded under serial/ (no extra install)
Windows links SetupAPI (already set in CMakeLists.txt).
Linux: comment out the SetupAPI link line per hint in CMakeLists.txt.

Build example:

mkdir build && cd build
cmake ..
# Option A (portable):
cmake --build . -j
# Option B (Makefiles generator):
make -j
# Option C (Windows with VS generator):
# cmake --build . --config Release -j

Binary: build/wlkata (Windows: wlkata.exe).

Serial & Address Notes

Ports: Windows COMx, Linux /dev/ttyUSBx or /dev/ttyACMx
Baudrate: RS485 examples use 38400; UART examples use 115200
Addressing:
- RS485 uses slave addresses (e.g., 1, 2, 10)
- Direct UART can use -1 for direct-attach
- init(serial, addr, block_flag, message_flag):
  - block_flag=true makes common commands wait until Idle
  - message_flag=true prints low-level comm logs

Mirobot Wiring diagram(RS485)

Mirobot Example Usage(RS485)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("com13", 38400);

    Mirobot_UART Mirobot;
    Mirobot_UART Mirobot_2;
    Mirobot.init(&my_serial, 1, true, true);
    Mirobot_2.init(&my_serial, 2, true, true);
    // Mirobot.message_print(true);
    // Mirobot_2.message_print(true);
    Mirobot.homing();
    Mirobot_2.homing();
    Mirobot_UART::CoordinateParams params;
    params.x = 255;
    params.y = 50;
    params.z = 200;
    params.a = 20;
    params.b = 0;
    params.c = 0;
    params.set_x = params.set_y = params.set_z = true;
    params.set_a = params.set_b = params.set_c = false;
    Mirobot.writecoordinate(0, 0, params);

    for (int i = 0; i < 5; i++) {
        Mirobot.writecoordinate(0, 0, 255, 0, 200, 0, 0, 0);
        Mirobot.writecoordinate(0, 0, 255, 0, 100, 0, 0, 0);
        Mirobot_2.writecoordinate(0, 0, 255, 0, 200, 0, 0, 0);
        Mirobot_2.writecoordinate(0, 0, 255, 0, 100, 0, 0, 0);
   
    }

    my_serial.close();
    // system("pause");
    return 0;
}

Mirobot Wiring diagram(UART)

Mirobot Example Usage(UART)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("COM13", 115200);

    Mirobot_UART Mirobot;
    Mirobot.init(&my_serial, -1, true, true);
    // Mirobot.message_print(true);
    Mirobot.homing();
    Mirobot_UART::CoordinateParams params;
    params.x = 255;
    params.y = 50;
    params.z = 200;
    params.a = 20;
    params.b = 0;
    params.c = 0;
    params.set_x = params.set_y = params.set_z = true;
    params.set_a = params.set_b = params.set_c = false;
    Mirobot.writecoordinate(0, 0, params);

    for (int i = 0; i < 5; i++) {
        Mirobot.writecoordinate(0, 0, 255, 0, 200, 0, 0, 0);
        waitForIdle(Mirobot, "Waiting for run1...");

        Mirobot.writecoordinate(0, 0, 255, 0, 100, 0, 0, 0);
        waitForIdle(Mirobot, "Waiting for run2...");
    }

    my_serial.close();
    // system("pause");
    return 0;
}

MT4 Wiring diagram(RS485)

MT4 Example Usage(RS485)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("com13", 38400);

    MT4_UART MT4_1;
    MT4_1.init(&my_serial, 1, true, true);
    // MT4_1.message_print(true);
    MT4_1.homing();
    MT4_UART::CoordinateParams params;
    params.x = 255;
    params.y = 50;
    params.z = 200;
    params.a = 20;
    params.set_x = params.set_y = params.set_z = true;
    params.set_a  = false;
    MT4_1.writecoordinate(0, 0, params);

    for (int i = 0; i < 5; i++) {

        MT4_1.writecoordinate(0, 0, 255, 0, 200, 0);
        waitForIdle(MT4_1, "Waiting for run1...");

        MT4_1.writecoordinate(0, 0, 255, 0, 100, 0);
        waitForIdle(MT4_1, "Waiting for run2...");

    }

    my_serial.close();
    // system("pause");
    return 0;
}

MT4 Wiring diagram(UART)

MT4 Example Usage(UART)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("com13", 115200);

    MT4_UART MT4_1;
    MT4_1.init(&my_serial, -1, true, true);
    // MT4_1.message_print(true);
    MT4_1.homing();

    for (int i = 0; i < 5; i++) {
        MT4_1.writecoordinate(0, 0, 255, 0, 200, 0);
        waitForIdle(MT4_1, "Waiting for run1...");

        MT4_1.writecoordinate(0, 0, 255, 0, 100, 0);
        waitForIdle(MT4_1, "Waiting for run2...");
    }

    my_serial.close();
    // system("pause");
    return 0;
}

MS4220 Wiring diagram(RS485)

MS4220 Example Usage(RS485)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("com13", 38400);

    MS4220_UART MS4220_1;
    MS4220_1.init(&my_serial, 10, true, true);
    for (int i = 0; i < 5; i++) {
        MS4220_1.move_speed(100);
        MS4220_1.move_speed(-100);
        MS4220_1.move_speed(0);
        }
    my_serial.close();
    // system("pause");
    return 0;
}

Harobot Wiring diagram (UART)

Harobot Example Usage (UART)

#include <iostream>
#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial my_serial("COM4", 115200);

    Harobot_UART Harobot;
    Harobot.init(&my_serial, -1, true, true);
    Harobot.homing();

    for (int i = 0; i < 5; i++) {
        Harobot_UART::CoordinateParams params;
        params.x = 255;
        params.y = 50;
        params.z = 200;
        params.a = 20;
        params.set_x = params.set_y = params.set_z = true;
        Harobot.writecoordinate(0, 0, params);

        Harobot.writecoordinate(0, 0, 255, 0, 200, 0, 0, 0);
        Harobot.writecoordinate(0, 0, 255, 0, 100, 0, 0, 0);
    }

    my_serial.close();
    return 0;
}

API Overview

Base serial class: UART
- init(serial, addr, block_flag=false, message_flag=false) (implemented by derived)
- message_print(bool), block_flag(bool), senMsg(string), read_data()
Mirobot/Harobot: Mirobot_UART, Harobot_UART
- Motion: homing(int), writecoordinate(...), writeangle(...), speed(int), zero()
- Status: getStatus(), getState(), getAngle(int), getcoordinate(int)
- IO: gpio_init() and gpio_* functions
- Others: pump(int), gripper(int), restart(), runFile(string,bool)
MT4/E4: MT4_UART, E4_UART (4-axis variants)
MS4220: MS4220_UART with move_position(...), move_speed(int)

API Reference (Tables)

UART

Method	Signature	Notes
message_print	`void message_print(bool enable=false)`	Print low-level logs
block_flag	`void block_flag(bool enable=false)`	Enable blocking behavior
senMsg	`void senMsg(std::string data)`	Send raw command
read_data	`void read_data()`	Read raw data

Mirobot_UART / Harobot_UART (6-axis)

Category	Method/Struct	Signature	Notes
Init	init	`void init(serial::Serial*,int,bool,bool)`	`-1` for direct UART; RS485 uses slave addr
Motion	homing	`void homing(int mode=8)`	Homing
Motion	writecoordinate	`void writecoordinate(int,int,float,float,float,float,float,float)`	Pos (args)
Motion	CoordinateParams	`{x,y,z,a,b,c; set_x..set_c}`	Set only needed coords
Motion	writecoordinate	`void writecoordinate(int,int,const CoordinateParams&)`	Pos (struct)
Motion	writeangle	`void writeangle(int,float,float,float,float,float,float)`	Angles (args)
Motion	AngleParams	`{x,y,z,a,b,c; set_x..set_c}`	Angle flags
Motion	writeangle	`void writeangle(int,const AngleParams&)`	Angles (struct)
Motion	speed	`void speed(int v)`	Device-defined
Other	zero	`void zero()`	Zero
Other	pump/gripper	`void pump(int)` / `void gripper(int)`	Actuators
Other	restart/runFile	`void restart()` / `void runFile(std::string,bool)`	Reboot/run file
Status	getStatus/getState	`datas getStatus()` / `std::string getState()`	Status
Status	getAngle/getcoordinate	`float getAngle(int)` / `float getcoordinate(int)`	Single field
IO	gpio_*	`gpio_init/mode/output/input/enable/threshold`	GPIO

MT4_UART / E4_UART (4-axis)

Category	Method/Struct	Signature	Notes
Init	init	`void init(serial::Serial*,int,bool,bool)`	Same as above
Motion	writecoordinate	`void writecoordinate(int,int,float,float,float,float)`	Pos (args)
Motion	CoordinateParams	`{x,y,z,a; set_x..set_a}`	Pos (struct)
Motion	writecoordinate	`void writecoordinate(int,int,const CoordinateParams&)`	Pos (struct)
Motion	writeangle	`void writeangle(int,float,float,float,float)`	Angles (args)
Motion	AngleParams	`{x,y,z,a; set_x..set_a}`	Angle (struct)
Motion	writeangle	`void writeangle(int,const AngleParams&)`	Angles (struct)
Motion	homing/zero	`void homing(int)` / `void zero()`	Homing/zero
Status	getAngle/getcoordinate	`float getAngle(int)` / `float getcoordinate(int)`	Single field

MS4220_UART

Category	Method	Signature	Notes
Init	init	`void init(serial::Serial*,int,bool,bool)`	RS485 slave addr required
Control	restart/homing	`void restart()` / `void homing()`	Control
Control	move_position	`void move_position(int,int,int)`	Position/steps/speed
Control	move_speed	`void move_speed(int)`	Velocity mode
Status	get_Status/get_State	`datas get_Status()` / `std::string get_State()`	Status
Status	get_position/get_sensor	`int get_position()` / `int get_sensor(std::string)`	Position/sensor

Minimal Runnable Examples

Mirobot (UART direct)

#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial serial("COM13", 115200);
    Mirobot_UART bot;
    bot.init(&serial, -1, true, true);
    bot.homing();
    Mirobot_UART::CoordinateParams p; 
    p.x=200; p.z=150; p.set_x=p.set_z=true;
    bot.writecoordinate(0, 0, p);
    serial.close();
}

MS4220 (RS485, addr 10)

#include <chrono>
#include <thread>
#include "serial/serial.h"
#include "wlkataC.h"

int main() {
    serial::Serial serial("COM13", 38400);
    MS4220_UART drv; 
    drv.init(&serial, 10, true, true);
    drv.homing();
    drv.move_speed(100);
    drv.move_speed(0);
    serial.close();
}

Changelog

Follows Keep a Changelog and SemVer.

[0.1.0] - 2025-10-30

Support basic control for Mirobot, MT4, E4, Haro380, MS4220.
Provide RS485 and UART examples.

Communication

For further instructions, contact WLkata personnel at the WLkata Download Page.

Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
img		img
serial		serial
wlkata		wlkata
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
README_ko-KR.md		README_ko-KR.md
README_zh-CN.md		README_zh-CN.md
main.cpp		main.cpp

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WlkataC

wlkataC version 0.1.0

License: MIT

IMPORTANT!!!

Description

Supported Devices

Build & Dependencies

Serial & Address Notes

Mirobot Wiring diagram(RS485)

Mirobot Example Usage(RS485)

Mirobot Wiring diagram(UART)

Mirobot Example Usage(UART)

MT4 Wiring diagram(RS485)

MT4 Example Usage(RS485)

MT4 Wiring diagram(UART)

MT4 Example Usage(UART)

MS4220 Wiring diagram(RS485)

MS4220 Example Usage(RS485)

Harobot Wiring diagram (UART)

Harobot Example Usage (UART)

API Overview

API Reference (Tables)

UART

Mirobot_UART / Harobot_UART (6-axis)

MT4_UART / E4_UART (4-axis)

MS4220_UART

Minimal Runnable Examples

Mirobot (UART direct)

MS4220 (RS485, addr 10)

Changelog

[0.1.0] - 2025-10-30

Communication

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