### Install Dependencies

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/handle_control/README.md

Run this command in the terminal to install the required libraries for the project.

```bash
pip3 install -r requirements.txt
```

--------------------------------

### MyBuddySocket Connection and Get Angles Example

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyBuddy_en.md

Example demonstrating how to connect to the MyBuddy robot via a socket and retrieve the current angles of its joints.

```APIDOC
## MyBuddySocket Example

### Description
Connect to MyBuddy via socket and get joint angles.

### Code
```python
from pymycobot import MyBuddySocket

mst = MyBuddySocket("192.168.0.1", 9000)
mst.connect("/dev/ttyACM0", "115200")

print(mst.get_angles(1))
```
```

--------------------------------

### Install Dependencies

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/myArm_M&C_demo/README.md

Install the necessary Python packages using pip.

```shell
pip install -r requirement.txt
```

--------------------------------

### Initialize MyArmM and Control Joints

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/myArm_M&C_en.md

Import the MyArmM library and initialize the robot connection. This example demonstrates how to get all joint angles and set a specific joint's angle and speed. Ensure the correct serial port is specified.

```python
# Example
from pymycobot import MyArmM

mam = MyArmM('/dev/ttyAMA1')

# Gets the current angle of all joints
angles = mam.get_joints_angle()
print(angles)

# Set 1 joint to move to 40 and speed to 20
mam.set_joint_angle(1, 40, 20)
```

--------------------------------

### start()

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/mybuddy_emoticon_en.md

Initiates the playback of the configured video emoticons.

```APIDOC
## start()

### Description
start playing video
```

--------------------------------

### Initialize MechArm270 and Get Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MechArm_270_en.md

Import the MechArm270 class and initialize the robot arm connection. This example demonstrates how to get the current angles of all joints.

```python
from pymycobot import MechArm270

mc = MechArm270('COM3')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)
```

--------------------------------

### Initialize and Start MyBuddyEmoticon

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/mybuddy_emoticon_en.md

Initializes MyBuddyEmoticon with a list of videos and their playback durations, then starts playback. Ensure the video paths are absolute.

```python
from pymycobot import MyBuddyEmoticon
import time

# [video_path, Playback_duration(s)]
video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10]

datas = [video1]

me = MyBuddyEmoticon(datas)
me.start()
```

--------------------------------

### PyMyCobot Server Output Example

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Example output when running the `Server_Pro630.py` script, showing the IP address, port, and connection status.

```shell
pi@raspberrypi:~/pymycobot/demo $ python3 Server_Pro630.py 
ip: 192.168.1.169 port: 9000
Binding succeeded!
This is asynchronous mode
waiting connect!------------------
```

--------------------------------

### Install PyMyCobot from Source

Source: https://github.com/elephantrobotics/pymycobot/blob/main/README.md

Clone the repository and install pymycobot from the source code. This is useful for development or if you need the latest unreleased features.

```bash
# The latest code branch is the develop branch. You can choose to install it if necessary.
git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
cd <your-path>/pymycobot
# Install
[sudo] python2 setup.py install # Will not support starting from v4.0.1
# or
[sudo] python3 setup.py install
```

```bash
# Install
pip install .
# Uninstall
pip uninstall .
```

--------------------------------

### Mercury X1 Chassis API Usage Example

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_X1_Chassis_en.md

Import the API library and control the chassis. Ensure the API library is imported before using any functions. This example demonstrates getting battery voltage and setting the RGB light strip color.

```python
# demo
from pymycobot import mercurychassis_api

mc = ChassisControl('/dev/wheeltec_controller')

# Get battery voltage
voltage = mc.get_power_voltage()
print(voltage)

# Set the chassis RGB light strip to green
mc.set_color(255, 0, 0)
```

--------------------------------

### Initialize MyCobot 320 and Get Joint Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Import the MyCobot320 class and initialize the robot by specifying the COM port. This example demonstrates how to retrieve the current angles of all joints and print them.

```python
from pymycobot import MyCobot320

mc = MyCobot320('COM3')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)
```

--------------------------------

### Start Chassis Communication

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_X1_Chassis_en.md

Run this command in the console to initiate communication with the chassis.

```bash
roslaunch turn_on_mercury_robot mapping.launch
```

--------------------------------

### Install PyMyCobot

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Update or install the PyMyCobot library to version 3.5.0a2 or later to use the Pro630 client.

```shell
pip uninstall pymycobot
pip install pymycobot==3.5.0a2
```

--------------------------------

### Initialize MyPalletizer 260 and Get Joint Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyPalletizer_260_en.md

Import the MyPalletizer260 class and initialize it with the serial port. This example demonstrates how to retrieve the current angles of all joints.

```python
from pymycobot import MyPalletizer260

mc = MyPalletizer260('COM3')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)
```

--------------------------------

### Initialize MyCobot and Get Joint Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_RDKX5_en.md

Import the MyCobot API and establish a connection to the robot. This snippet demonstrates how to get the current angles of all joints.

```python
from pymycobot import MyCobot280RDKX5

mc = MyCobot280RDKX5('/dev/ttyS1')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)
```

--------------------------------

### Install PyMyCobot via Pip

Source: https://github.com/elephantrobotics/pymycobot/blob/main/README.md

Install the latest version of the pymycobot library using pip. This is the recommended method for most users.

```bash
pip install pymycobot --upgrade
```

--------------------------------

### tool_serial_ready()

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Initializes the 485 serial communication. Returns 0 if not set, and 1 if setup is completed.

```APIDOC
## tool_serial_ready()

### Description
Set up 485 communication.

### Return value
- 0 : not set
- 1 : Setup completed
```

--------------------------------

### drag_start_record

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md

Starts the trajectory recording process.

```APIDOC
## drag_start_record()

### Description
Starts trajectory recording.

### Return Value
- An integer representing the current recording queue length.
```

--------------------------------

### Basic Robot Control Examples

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Demonstrates fundamental robot control operations including sending angles, setting colors, and releasing servos.

```APIDOC
## Basic Robot Control

### Description
Examples for controlling the robot's arm, setting LED colors, and releasing servos.

### Methods
- `send_angles(id, angles, speed)`: Sends a list of joint angles to the robot.
- `set_color(id, r, g, b)`: Sets the color of the robot's LED.
- `release_all_servos(id)`: Releases all servos for the specified robot arm.

### Example Usage
```python
from pymycobot import MyCobot
import time

buddy = MyCobot("/dev/ttyUSB0", 115200)

# Move left arm to home position
buddy.send_angles(1, [0, 0, 0, 0, 0, 0], 30)
time.sleep(3)

# Set color on left arm Atom
buddy.set_color(1, 255, 0, 0)

buddy.release_all_servos(1)  # release left arm
```
```

--------------------------------

### drag_teach_save

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Starts recording and saving points for drag teaching. The recording time should not exceed 90 seconds for optimal performance.

```APIDOC
## drag_teach_save()

### Description
Starts recording and dragging teaching points.

### Note
In order to display the best sports effect, the recording time should not exceed 90 seconds.
```

--------------------------------

### Run Handle Control Program

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/handle_control/README.md

Execute the Python script to start the MyCobot handle control application.

```bash
python3 myCobot280_handle_control.py
```

--------------------------------

### Run Bluetooth Server

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/mycobot_pi_bluetooth/README.md

Execute this Python script to start the Bluetooth server on the myCobot Pi. This is necessary for establishing a connection.

```python
python uart_peripheral_serial.py
```

--------------------------------

### Drag Teaching

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Functions to start, pause, and execute drag teaching for the robotic arm.

```APIDOC
## drag_teach_save

### Description
Starts recording and dragging teaching points. The recording time should not exceed 90 seconds for optimal performance.

### Method
```
drag_teach_save()
```

## drag_teach_pause

### Description
Pauses the sampling process during drag teaching.

### Method
```
drag_teach_pause()
```

## drag_teach_execute

### Description
Starts the execution of the taught points from drag teaching. This function executes the sequence only once.

### Method
```
drag_teach_execute()
```
```

--------------------------------

### MyCobot 320 Socket Client Example

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Demonstrates how to connect to and control the MyCobot 320 robotic arm using the `MyCobot320Socket` class over TCP/IP.

```APIDOC
## MyCobot 320 Socket Client

### Description
This section provides an example of how to use the `MyCobot320Socket` class to establish a connection with the robotic arm's server and send commands.

### Usage
```python
from pymycobot import MyCobot320Socket

# Initialize the connection to the robot arm
# Port 9000 is used by default
mc = MyCobot320Socket("192.168.10.10", 9000)

# Example: Get current angles
res = mc.get_angles()
print(res)

# Example: Send angles command
mc.send_angles([0, 0, 0, 0, 0, 0], 20)
...
```

### Note
- The `MyCobot320Socket` class requires the robotic arm to have a server running and enabled.
- This class is intended for use with the Raspberry Pi version and supports Python 3.
```

--------------------------------

### Run the Main Program

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/myArm_M&C_demo/README.md

Execute the main Python script to start the myArm M&C control application.

```shell
python main.py
```

--------------------------------

### ultraArm P340 Initialization and Pick-and-Place Example

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/ultraArm_P340_en.md

Demonstrates connecting to the ultraArm P340, moving it to predefined positions, and using the suction pump for a pick-and-place operation. It includes system-specific port selection and timed pauses for movement and suction.

```python
import time
import platform
from pymycobot.ultraArmP340 import ultraArmP340

# Automatically select the system and connect the mechanical arm
if platform.system() == "Windows":
    ua = ultraArmP340('COM6', 115200)
    ua.go_zero()
elif platform.system() == "Linux":
    ua = ultraArmP340('/dev/ttyUSB0', 115200)
    ua.go_zero()
    
# Position of mechanical arm movement
angles = [
    [-81.71, 0.0, 0.0],
    [-90.53, 21.77, 47.56],
    [-90.53, 0.0, 0.0],
    [-59.01, 21.77, 45.84],
    [-59.01, 0.0, 0.0]
]

# Suck small pieces
ua.set_angles(angles[0], 50)
time.sleep(3)
ua.set_angles(angles[1], 50)
time.sleep(3)

# Start suction pump
ua.set_gpio_state(0)

ua.set_angles(angles[2], 50)
time.sleep(3)
ua.set_angles(angles[3], 50)

# Close the suction pump
ua.set_gpio_state(1)
time.sleep(3)

ua.set_angles(angles[4], 50)
```

--------------------------------

### Get Robot Type

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Obtain the robot's model identifier. For example, the Mercury A1 model is represented by 4500.

```python
mc.get_robot_type()
```

--------------------------------

### Navigate to the directory

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/myAGVPro_Composite_Kit/README.md

Enter the specific directory for the myAGVPro composite kit demo.

```shell
cd pymycobot/demo/myAGVPro_Composite_Kit
```

--------------------------------

### Basic Arm Control Example

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Demonstrates basic arm control operations including moving to a home position, setting LED color, and releasing servos.

```python
# Move left arm to home position
buddy.send_angles(1, [0, 0, 0, 0, 0, 0], 30)
time.sleep(3)

# Set color on left arm Atom
buddy.set_color(1, 255, 0, 0)

buddy.release_all_servos(1)  # release left arm
```

--------------------------------

### gpio_init

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MechArm_270_en.md

Initializes the GPIO module and sets the mode to BCM.

```APIDOC
## gpio_init()

### Description
Initializes the GPIO module and sets the BCM mode.
```

--------------------------------

### Install Older PyMyCobot Version

Source: https://github.com/elephantrobotics/pymycobot/blob/main/README.md

If you are using an older version of the Atom firmware (prior to 2.4), install version 1.0.7 of pymycobot.

```bash
pip install pymycobot==1.0.7 --user
```

--------------------------------

### Initialize GPIO

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Initializes the GPIO module and sets the mode to BCM.

```python
mycobot.gpio_init()
```

--------------------------------

### Robot Class Instantiation

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Demonstrates how to instantiate various MyCobot robot models for serial or TCP socket connections, including options for debug logging.

```APIDOC
## Robot Class Instantiation

Every interaction starts by instantiating a robot class with a serial port or network address. The `debug=True` flag enables verbose hex logging of all protocol frames.

```python
from pymycobot import (
    MyCobot280, MyCobot280Socket,
    MyCobot320, MyCobot320Socket,
    MechArm270, MechArmSocket,
    MyPalletizer260, MyPalletizerSocket,
    Mercury, MercurySocket,
    MyArm, MyArmSocket,
    MyBuddy,
    MyAgv,
    Pro450Client,
    PI_PORT, PI_BAUD,
)

# Serial connection (USB or UART)
mc = MyCobot280("/dev/ttyUSB0", baudrate=115200, timeout=0.1, debug=False)

# TCP socket connection (robot runs demo/Server_280.py first)
mc = MyCobot280Socket("192.168.1.10", netport=9000, debug=False)

# Raspberry Pi onboard serial
mc = MyCobot280(PI_PORT, PI_BAUD)

# MyCobot 320 via serial
mc320 = MyCobot320("/dev/ttyUSB0", 115200)

# MechArm 270 via serial
marm = MechArm270("/dev/ttyUSB0", 115200)

# Mercury via serial
mercury = Mercury("/dev/ttyAMA1", 115200)

# MyBuddy dual-arm
buddy = MyBuddy("/dev/ttyUSB0", 115200)

# MyAGV
agv = MyAgv("/dev/ttyUSB0", 115200)

# Pro 450 client (Ethernet)
pro = Pro450Client("192.168.1.10", 9000)

mc.close()  # close serial/socket when done
```
```

--------------------------------

### Initialize MyBuddyEmoticon with Video Data

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/mybuddy_demo/emoticon.md

This snippet shows how to initialize the MyBuddyEmoticon class with a list of video configurations. Each configuration includes the video file path and its playback duration in seconds. Ensure the video path points to a valid, decompressed video file.

```python
from pymycobot import MyBuddyEmoticon
import time

# [video_path, Playback_duration(s)]
video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10]

datas = [video1]

me = MyBuddyEmoticon(datas)
...
```

--------------------------------

### Get System Version

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Retrieve the system version of the robot arm.

```python
mc.get_system_version()
```

--------------------------------

### set_pro_gripper_init

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Initializes the gripper, restoring it to Modbus mode at 115200 baud rate.

```APIDOC
## set_pro_gripper_init

### Description
Initializes the gripper, restoring it to Modbus mode at 115200 baud rate.

### Parameters
#### Path Parameters
- **gripper_id** (int) - Optional - Gripper ID, default 14, value range 1 ~ 254.

### Return Value
- **bool**: True - Success, False - Failure
```

--------------------------------

### get_hand_gripper_min_pressure

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Retrieves the minimum starting force (pressure) for a specified gripper joint.

```APIDOC
## get_hand_gripper_min_pressure(joint_id, gripper_id=14)

### Description
Get the minimum starting force of a joint.

### Parameters
#### Path Parameters
- **joint_id** (int) - Required - Specifies the joint (1-6).
- **gripper_id** (int) - Optional - Specifies the gripper ID (1-254, default 14).

### Return value
- **value** (int) - The minimum force value (0-254).
```

--------------------------------

### set_hand_gripper_min_pressure

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Sets the minimum starting force (pressure) for a specified gripper joint.

```APIDOC
## set_hand_gripper_min_pressure(joint_id, value, gripper_id=14)

### Description
Set the minimum starting force of a joint.

### Parameters
#### Path Parameters
- **joint_id** (int) - Required - Specifies the joint (1-6).
- **value** (int) - Required - The minimum force value (0-254).
- **gripper_id** (int) - Optional - Specifies the gripper ID (1-254, default 14).

### Return value
- **status** (int) - 0 for Failed, 1 for Success.
```

--------------------------------

### Initialize and Control MyCobot 280

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md

Import the MyCobot280 class and establish a connection to the robot via a specified COM port. This example demonstrates how to retrieve current joint angles and set a specific joint to a target angle with a given speed.

```python
from pymycobot import MyCobot280

mc = MyCobot280('COM3')

# Gets the current angle of all joints
angles = mc.get_angles()
print(angles)

# Set 1 joint to move to 40 and speed to 20
mc.send_angle(1, 40, 20)
```

--------------------------------

### Get Movement Type

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Retrieves the current movement type setting of the robot.

```APIDOC
## get_movement_type()

### Description
Gets the current movement type setting of the robot.

### Method
`get_movement_type()`

### Parameters
None

### Return Value
- `1`: Indicates `movel` (linear movement) is set.
- `0`: Indicates `moveJ` (joint movement) is set.

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
move_type = p.get_movement_type()
print(f"Current movement type: {move_type}")
```
```

--------------------------------

### Get Reference Frame

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Retrieves the currently set base coordinate system.

```APIDOC
## get_reference_frame()

### Description
Gets the currently set base coordinate system.

### Method
`get_reference_frame()`

### Parameters
None

### Return Value
- `0`: Indicates the base coordinate system is set.
- `1`: Indicates the tool coordinate system is set.

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
frame_type = p.get_reference_frame()
print(f"Current reference frame: {frame_type}")
```
```

--------------------------------

### System & Product Information

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyAGVPro_en.md

Methods for retrieving system version and controlling power state.

```APIDOC
## get_system_version()

### Description
Obtain the major firmware version number.

### Return value
- **float: version**
```

```APIDOC
## get_modify_version()

### Description
Obtain the minor firmware version number.

### Return value
- **int: version**
```

```APIDOC
## power_on()

### Description
Turn on the robot.

### Return value
- **int: Power-on result, 1: Success, 0: Failed**
```

```APIDOC
## power_on_only()

### Description
Turn on the robot, but not start the control program.

### Return value
- **int: Power-on result only, 1: Success, 0: Failed**
```

```APIDOC
## power_off()

### Description
Turn off the robot.

### Return value
- **int: Power-off result only, 1: Success, 0: Failed**
```

```APIDOC
## is_power_on()

### Description
Check if the robot is powered on.

### Return value
- **int: power state, 1: Power-on, 0: Power-off**
```

--------------------------------

### Get Digital Input

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Reads the current state of a digital input pin.

```APIDOC
## get_digital_input(pin_no)

### Description
Reads the signal status of a specified digital input pin.

### Method
`get_digital_input(pin_no)`

### Parameters
- `pin_no` (int): The number of the pin to read.

### Return Value
- `signal` (int): The current signal state of the pin (`0` or `1`).

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
status = p.get_digital_input(1) # Read pin 1
print(f"Pin 1 status: {status}")
```
```

--------------------------------

### init_gripper

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MechArm_270_en.md

Initializes the gripper, setting it to a default state.

```APIDOC
## init_gripper()

### Description
Initialize gripper.
```

--------------------------------

### Gripper Protection Current

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MechArm_270_en.md

Functions to get and set the protection current for the gripper.

```APIDOC
## get_gripper_protect_current()

### Description
Get the gripper protection current.

### Return value
(int) 1 ~ 500
```

```APIDOC
## set_gripper_protect_current(current)

### Description
Set the gripper protection current.

### Parameters
- **current** (int): 1 ~ 500
```

--------------------------------

### Power On Robot

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

This snippet demonstrates how to power on the robot using the `power_on` command. It's essential to power on the robot before controlling it, especially on its first use.

```APIDOC
## Power On Robot

### Description
Powers on the robot. This is a prerequisite for controlling the robot, particularly when it's powered on for the first time.

### Method
`power_on()`

### Parameters
None

### Request Example
```python
from pymycobot import Pro630Client

p = Pro630Client("192.168.1.169", 9000)
res = p.power_on()
if res == 1:
    print("power on succ")
```

### Response
- **res** (int) - Returns 1 on success, otherwise indicates failure.
```

--------------------------------

### Speed Planning Functions

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyBuddy_en.md

Functions for getting and setting planning acceleration and speed.

```APIDOC
## get_plan_acceleration(id=0)

### Description
Get planning acceleration.

### Parameters
- **id** (int) - 0/1/2/3 (ALL/L/R/W).

### Return Value
- List[int]: [movel planning acceleration, movej planning acceleration].

## get_plan_speed(id=0)

### Description
Get planning speed.

### Parameters
- **id** (int) - 0/1/2/3 (ALL/L/R/W).

### Return Value
- List[int]: [movel planning speed, movej planning speed].

## set_acceleration(id, acc)

### Description
Set acceleration during all moves.

### Parameters
- **id** (int) - 1/2/3 (L/R/W).
- **acc** (int) - Acceleration value (1 - 100).

## get_acceleration(id)

### Description
Read acceleration during all moves.

### Parameters
- **id** (int) - 1/2/3 (L/R/W).
```

--------------------------------

### Get End Coordinate System

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Retrieves the current setting for the end coordinate system.

```APIDOC
## get_end_type()

### Description
Obtains the current setting for the end coordinate system.

### Method
`get_end_type()`

### Parameters
None

### Return Value
- `0`: Indicates the end effector is set to the flange.
- `1`: Indicates the end effector is set to the tool.

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
end_type = p.get_end_type()
print(f"End coordinate system: {end_type}")
```
```

--------------------------------

### Initialize MyCobot Pro 450 Client and Get Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

This Python code initializes the Pro450Client, ensures the robot is powered on, and retrieves the current joint angles. Ensure the robot and PC are on the same network segment.

```python
# Example
from pymycobot import Pro450Client
# The default IP address is "192.168.0.232" and the default port number is 4500
mc = Pro450Client('192.168.0.232', 4500)

if mc.is_power_on() !=1:
    mc.power_on()

print(mc.get_angles())
```

--------------------------------

### Get World Reference Frame

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Retrieves the current world coordinate system values.

```APIDOC
## get_world_reference()

### Description
Gets the current world coordinate system values.

### Method
`get_world_reference()`

### Parameters
None

### Return Value
- `list`: A list containing `[x, y, z, rx, ry, rz]` representing the world coordinates and rotations.

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
world_ref = p.get_world_reference()
print(f"World reference: {world_ref}")
```
```

--------------------------------

### get_gripper_protect_current

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md

Gets the protection current value for the gripper. The value ranges from 1 to 500.

```APIDOC
## get_gripper_protect_current()

### Description
Retrieves the protection current setting for the gripper.

### Return value
- (int): The protection current value, ranging from 1 to 500.
```

--------------------------------

### MyBuddyEmoticon Class

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/mybuddy_emoticon_en.md

Initializes the MyBuddyEmoticon with a list of video files and their playback durations, and optionally sets the window size and loop behavior.

```APIDOC
## MyBuddyEmoticon(file_path: list = [], window_size: tuple = (), loop=False)

### Description
API for playing emoticons.

### Parameters
* **file_path (list)**: `[[path, time]]` The absolute path of facial expression video and the length of time to play. Time in seconds.
* **window_size (tuple)**: `(Length, width)` Size of the playback window (default is full screen).
* **loop (bool)**: Loop playback or not (default False. only once by default).
```

--------------------------------

### Velocity Fusion Parameters

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to get and set velocity fusion planning parameters.

```APIDOC
## get_fusion_parameters(rank_mode)

### Description
Get velocity fusion planning parameters.

### Parameters
#### Path Parameters
- **rank_mode** (int) - Required - The parameter mode to retrieve.
  - `1`: Fusion joint velocity
  - `2`: Fusion joint acceleration
  - `3`: Fusion coordinate velocity
  - `4`: Fusion coordinate acceleration

### Return Value
- **int** The parameter value (0 to 1000).

## set_fusion_parameters(rank_mode, value)

### Description
Set velocity fusion planning parameters.

### Parameters
#### Path Parameters
- **rank_mode** (int) - Required - The parameter mode to set (1 to 4).
- **value** (int) - Required - The parameter value (0 to 1000).
```

--------------------------------

### Initialize Gripper

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md

Initializes the gripper module. Returns 1 upon successful completion.

```python
init_gripper()
```

--------------------------------

### Filter Parameters

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to get and set various filter parameters for motion control.

```APIDOC
## get_filter_len(rank)

### Description
Get filter parameters based on the specified rank.

### Parameters
#### Path Parameters
- **rank** (int) - Required - The filter rank to query.
  - `1`: Drag teach sampling filter
  - `2`: Drag teach execution filter
  - `3`: Joint velocity fusion filter
  - `4`: Coordinate velocity fusion filter
  - `5`: Drag teach sampling period

### Return Value
- **int** The filter value (1 to 255).

## set_filter_len(rank, value)

### Description
Set filter parameters for the robot arm.

### Parameters
#### Path Parameters
- **rank** (int) - Required - The filter rank to set (1 to 5).
  - `1`: Drag teach sampling filter
  - `2`: Drag teach execution filter
  - `3`: Joint velocity fusion filter
  - `4`: Coordinate velocity fusion filter
  - `5`: Drag teach sampling period
- **value** (int) - Required - The filter value (1 to 255).
```

--------------------------------

### Joint Model Direction

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to get and set the direction of each joint's motor.

```APIDOC
## get_model_direction()

### Description
Get the joint model direction for all joints.

### Return Value
- **list** Model direction of joints 1-6.
  - `1`: Same direction as the motor
  - `0`: Opposite direction from the motor

## set_model_direction(joint_id, direction)

### Description
Set the joint model direction for a specific joint.

### Parameters
#### Path Parameters
- **joint_id** (int) - Required - The ID of the joint (1 to 6).
- **direction** (int) - Required - The direction setting.
  - `1`: Same direction as the motor
  - `0`: Opposite direction from the motor
```

--------------------------------

### Import UltraArm P340 API Library

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/ultraArm_P340_en.md

Import the necessary library for the Mira Series (UltraArm P340) before using any API functions. Ensure the library is installed.

```python
#For Mira Series
from pymycobot.ultraArmP340 import ultraArmP340
```

--------------------------------

### End Type

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to set and get the end coordinate system (Flange or Tool).

```APIDOC
## set_end_type(end)

### Description
Set the end coordinate system.

### Parameters
#### Path Parameters
- **end** (int) - Required - Specifies the end coordinate system.
  - `0`: Flange (default)
  - `1`: Tool

## get_end_type()

### Description
Get the end coordinate system.

### Return Value
- `0`: Flange (default)
- `1`: Tool
```

--------------------------------

### Configure Port and Initialize MyCobot

Source: https://github.com/elephantrobotics/pymycobot/blob/main/demo/handle_control/README.md

Modify the script to use your computer's detected port number and baud rate. The MyCobot280 class is instantiated here.

```python
import pygame
import time
from pymycobot import MyCobot280
import threading
# Change /dev/ttyAMA0 to the port number and rate detected by your computer
mc = MyCobot280("/dev/ttyANA0", 1000000)
```

--------------------------------

### Reference Frame

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to set and get the base coordinate system reference frame.

```APIDOC
## set_reference_frame(rftype)

### Description
Set the base coordinate system.

### Parameters
#### Path Parameters
- **rftype** (int) - Required - Specifies the coordinate system to use.
  - `0`: Base coordinates (default)
  - `1`: World coordinates

## get_reference_frame()

### Description
Get the base coordinate system.

### Return Value
- **list** [x, y, z, rx, ry, rz]
```

--------------------------------

### Import and Initialize Mercury API

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Import the Mercury API and initialize the robot arm connection. Ensure the correct serial port is specified.

```python
from pymycobot import Mercury

mc = Mercury('/dev/ttyAMA1')

print(mc.get_angles())
```

--------------------------------

### Get All Joint Angles

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Retrieve the current angular position of all joints in the robot arm.

```python
mc.get_angles()
```

--------------------------------

### Get Atom Version

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/Mercury_API.md

Fetch the end version number of the robot's firmware.

```python
mc.get_atom_version()
```

--------------------------------

### Power On Robot

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Initializes the robot and powers it on. This command must be used before controlling the robot.

```APIDOC
## power_on()

### Description
Powers on the robotic arm. This is a prerequisite for controlling the robot.

### Method
`power_on()`

### Parameters
None

### Return Value
- `1` on success

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
res = p.power_on()
if res == 1:
    print("power on succ")
```
```

--------------------------------

### World Coordinate System

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to set and get the world coordinate system for the robot arm.

```APIDOC
## set_world_reference(coords)

### Description
Set the world coordinate system.

### Parameters
#### Path Parameters
- **coords** (list) - Required - A list of floats representing [x, y, z, rx, ry, rz].
  - x: -1000 ~ 1000
  - y: -1000 ~ 1000
  - z: -1000 ~ 1000
  - rx: -180 ~ 180
  - ry: -180 ~ 180
  - rz: -180 ~ 180

## get_world_reference()

### Description
Get the world coordinate system.

### Return Value
- **list** [x, y, z, rx, ry, rz]
```

--------------------------------

### Initialize MyPalletizerSocket

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyPalletizer_260_en.md

Instantiate the MyPalletizerSocket class to establish a connection with the robotic arm via TCP/IP. Ensure the server is running on the robotic arm and specify the IP address and port.

```python
from pymycobot import MyPalletizerSocket
# Port 9000 is used by default
mc = MyPalletizerSocket("192.168.10.10",9000)
```

--------------------------------

### Tool Coordinate System

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to set and get the tool coordinate system for the robot arm.

```APIDOC
## set_tool_reference(coords)

### Description
Set the tool coordinate system.

### Parameters
#### Path Parameters
- **coords** (list) - Required - A list of floats representing [x, y, z, rx, ry, rz].
  - x: -1000 ~ 1000
  - y: -1000 ~ 1000
  - z: -1000 ~ 1000
  - rx: -180 ~ 180
  - ry: -180 ~ 180
  - rz: -180 ~ 180

## get_tool_reference()

### Description
Get the tool coordinate system.

### Return Value
- **list** [x, y, z, rx, ry, rz]
```

--------------------------------

### Speed and Acceleration Parameters

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to get and set the maximum speed and acceleration for the robot arm.

```APIDOC
## get_max_speed(mode)

### Description
Retrieves the maximum speed setting for either angular or coordinate movement.

### Parameters
- **mode** (int) - Required - 0 for angular speed, 1 for coordinate speed.

### Return Value
- Angular speed range: 1-150°/s
- Coordinate speed range: 1-200mm/s
```

```APIDOC
## set_max_speed(mode, max_speed)

### Description
Sets the maximum speed for either angular or coordinate movement.

### Parameters
- **mode** (int) - Required - 0 for angular speed, 1 for coordinate speed.
- **max_speed** (int) - Required - The desired maximum speed within the allowed range.
```

```APIDOC
## get_max_acc(mode)

### Description
Retrieves the maximum acceleration setting for either angular or coordinate movement.

### Parameters
- **mode** (int) - Required - 0 for angular acceleration, 1 for coordinate acceleration.

### Return Value
- Angular acceleration range: 1 to 150°/s
- Coordinate acceleration range: 1 to 400 mm/s
```

--------------------------------

### Record and Replay Arm Trajectories with Drag Teaching

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Enable free mode, start recording with `drag_start_record`, move the arm manually, then stop recording with `drag_end_record`. Recorded data can be retrieved using `drag_get_record_data` and cleared with `drag_clear_record_data`.

```python
from pymycobot import MyCobot280
import time

mc = MyCobot280("/dev/ttyUSB0", 115200)

mc.set_free_mode(1)
queue_len = mc.drag_start_record()
print("Recording started, queue length:", queue_len)

# Move the arm by hand for 5 seconds
time.sleep(5)

queue_len = mc.drag_end_record()
print("Recording ended, points captured:", mc.drag_get_record_len())

# Retrieve recorded data: [[encoders...], [speeds...]]
data = mc.drag_get_record_data()
if data != -1:
    encoders, speeds = data
    print("First point encoders:", encoders[:6])
    print("First point speeds:",   speeds[:6])

mc.drag_clear_record_data()  # clear the recording buffer
```

--------------------------------

### HTS Gripper Torque Control

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MechArm_270_en.md

Functions to set and get the torque for the HTS adaptive gripper.

```APIDOC
## set_HTS_gripper_torque(torque)

### Description
Set new adaptive gripper torque.

### Parameters
- **torque** (int): 150 ~ 980

### Return value
- 0: Set failed
- 1: Set successful
```

```APIDOC
## get_HTS_gripper_torque()

### Description
Get gripper torque.

### Return value
(int) 150 ~ 980
```

--------------------------------

### Command Execution Mode

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Configure the command execution mode. 'Fresh mode' prioritizes the latest command, while 'Queue mode' executes commands sequentially.

```APIDOC
## set_fresh_mode / get_fresh_mode

Control whether the command queue executes sequentially (queue mode) or always runs the latest command first (fresh/override mode).

```python
from pymycobot import MyCobot280

mc = MyCobot280("/dev/ttyUSB0", 115200)

# Fresh mode: always execute the latest command (useful for real-time tracking)
mc.set_fresh_mode(1)
print("Fresh mode:", mc.get_fresh_mode())  # -> 1

# Queue mode: execute commands in order (default for programmed sequences)
mc.set_fresh_mode(0)
print("Fresh mode:", mc.get_fresh_mode())  # -> 0
```
```

--------------------------------

### Run PyMyCobot Server

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Execute the `Server_Pro630.py` script on the robot's system to establish a TCP/IP server for communication. The script will output the server's IP address and port.

```shell
python3 Server_Pro630.py
```

--------------------------------

### Control Command Execution Mode (Fresh vs. Queue)

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Use `set_fresh_mode` to switch between fresh mode (latest command overrides) and queue mode (sequential execution). `get_fresh_mode` retrieves the current setting.

```python
from pymycobot import MyCobot280

mc = MyCobot280("/dev/ttyUSB0", 115200)

# Fresh mode: always execute the latest command (useful for real-time tracking)
mc.set_fresh_mode(1)
print("Fresh mode:", mc.get_fresh_mode())  # -> 1

# Queue mode: execute commands in order (default for programmed sequences)
mc.set_fresh_mode(0)
print("Fresh mode:", mc.get_fresh_mode())  # -> 0
```

--------------------------------

### Get Movement Type

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Retrieves the current movement type. Returns 1 for `movel` or 0 for `moveJ`.

```python
mycobot.get_movement_type()
```

--------------------------------

### Power On Pro630 Robot

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Initiates the robot's power-on sequence. This command must be executed before controlling the robot for the first time after it has been powered off.

```python
from pymycobot import Pro630Client

p = Pro630Client("192.168.1.169", 9000)
res = 0
res = p.power_on()
if res == 1:
    print("power on succ")
```

--------------------------------

### Get Synchronous/Asynchronous Control Mode

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Retrieves the current control mode (synchronous or asynchronous) for position updates.

```APIDOC
## get_pos_switch()

### Description
Gets the current control mode, indicating whether position updates are handled synchronously or asynchronously.

### Method
`get_pos_switch()`

### Parameters
None

### Return Value
- `0`: Asynchronous mode.
- `1`: Synchronous mode.

### Example
```python
from pymycobot import Pro630

p = Pro630("/dev/ttyAMA0")
mode = p.get_pos_switch()
if mode == 0:
    print("Control mode is asynchronous")
else:
    print("Control mode is synchronous")
```
```

--------------------------------

### run()

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/mybuddy_emoticon_en.md

Resumes video playback after it has been paused.

```APIDOC
## run()

### Description
Continue playing
```

--------------------------------

### Get Gripper Torque

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_280_en.md

Retrieves the current adaptive gripper torque setting. The value is between 150 and 980.

```python
get_HTS_gripper_torque()
```

--------------------------------

### Utility Methods

Source: https://context7.com/elephantrobotics/pymycobot/llms.txt

Provides access to system version, reboot count, and WiFi configuration for specific robot models.

```APIDOC
## get_system_version / get_reboot_count / set_ssid_pwd

### Description
Utility methods for firmware version, reboot diagnostics, and WiFi configuration (M5 stack version).

### Methods
- `get_system_version()`: Retrieves the robot's firmware version.
- `get_reboot_count()`: Gets the number of times the robot has rebooted.
- `set_ssid_pwd(ssid, password)`: Configures the WiFi network credentials.

### Parameters
#### `set_ssid_pwd`
- **ssid** (str) - The name of the WiFi network.
- **password** (str) - The password for the WiFi network.

### Example Usage
```python
from pymycobot import MyCobot280

mc = MyCobot280("/dev/ttyUSB0", 115200)

version = mc.get_system_version()
print("Firmware version:", version)   # -> e.g. 1.0

reboot_count = mc.get_reboot_count()
print("Reboot count:", reboot_count)  # -> integer

# Change connected WiFi (M5/Seeed version only)
mc.set_ssid_pwd("MyNetwork", "MyPassword")
```
```

--------------------------------

### Movement Type

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to set and get the robot arm's movement type (linear or joint).

```APIDOC
## set_movement_type(move_type)

### Description
Set the movement type.

### Parameters
#### Path Parameters
- **move_type** (int) - Required - Specifies the movement type.
  - `1`: moveL (Linear movement)
  - `0`: moveJ (Joint movement)

## get_movement_type()

### Description
Get the movement type.

### Return Value
- `1`: moveL
- `0`: moveJ
```

--------------------------------

### Joint Software Limit Operations

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_Pro450_en.md

Functions to get and set the minimum and maximum angle limits for each joint.

```APIDOC
## get_joint_min_angle(joint_id)

### Description
Reads the minimum angle limit for a specified joint.

### Parameters
- **joint_id** (int): The ID of the joint (range 1-6).

### Return Value
- `float`: The minimum angle value of the joint.
```

```APIDOC
## get_joint_max_angle(joint_id)

### Description
Reads the maximum angle limit for a specified joint.

### Parameters
- **joint_id** (int): The ID of the joint (range 1-6).

### Return Value
- `float`: The maximum angle value of the joint.
```

```APIDOC
## set_joint_min_angle(id, angle)

### Description
Sets the minimum angle limit for a specified joint.

### Parameters
- **id** (int): The ID of the joint (range 1-6).
- **angle** (float): The desired minimum angle limit. Must not be less than the joint's minimum value.
```

```APIDOC
## set_joint_max_angle(id, angle)

### Description
Sets the maximum angle limit for a specified joint.

### Parameters
- **id** (int): The ID of the joint (range 1-6).
- **angle** (float): The desired maximum angle limit. Must not be greater than the joint's maximum value.
```

--------------------------------

### Raspberry Pi GPIO Control

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyCobot_320_en.md

Initialize the GPIO module and control GPIO output pins.

```APIDOC
## gpio_init()

### Description
Initialize the GPIO module and set it to BCM mode.
```

```APIDOC
## gpio_output(pin, v)

### Description
Set the output value for a specified GPIO pin.

### Parameters
- **pin** (int): The GPIO pin number.
- **v** (int): The output value: 0 or 1.
```

--------------------------------

### Get Gripper Value

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyBuddy_en.md

Retrieves the current value or position of the gripper. This indicates how open or closed the gripper is.

```APIDOC
## get_gripper_value

### Description
Get the value of gripper.

### Parameters
- **id** (int) - 1/2 (L/R).

### Return Value
- gripper value (int).
```

--------------------------------

### drag_teach_execute

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/pro630_esp32_en.md

Executes the saved drag teaching points once.

```APIDOC
## drag_teach_execute()

### Description
Starts dragging the teach-in point, executing it only once.
```

--------------------------------

### Getting Gripper Value with get_gripper_value

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyBuddy_en.md

Retrieve the current value or position of the gripper. Requires the arm ID.

```python
get_gripper_value(id)
```

--------------------------------

### Get System Version

Source: https://github.com/elephantrobotics/pymycobot/blob/main/docs/MyBuddy_en.md

Retrieves the system version of the robot. The 'id' parameter specifies the robot or arm.

```python
get_system_version(id)
```