This is Python API for Agilex Robotics

This is a python API for CAN communication with Agilex Robotics

Installation

Notes:

Make sure that python version >=3.4. if you have python3 and python2 ,please use python3

Communication protocol

Robot	Protocol V2	CAN	Support Status
Scout 2.0	Y	Y	Active
Scout Mini	Y	Y	Active
Hunter 2.0	Y	Y	Active
Bunker	Y	Y	Active
Tracer	Y	Y	Active

pip

$ pip3 install pyagxrobots

Notes:

Make sure that pip3 version >= 9.0.0.

cheak the pip3 version

$ pip3 -V     		

updata pip3

$ python3 -m pip install --upgrade pip                 

Setup CAN-To-USB adapter

1. Enable gs_usb kernel module

   $ sudo modprobe gs_usb

2. Bringup can device

   $ sudo ip link set can0 up type can bitrate 500000

3. If no error occured during the previous steps, you should be able to see the can device now by using command

   $ ifconfig -a

4. Install and use can-utils to test the hardware

   $ sudo apt install can-utils

5. Testing command

   # receiving data from can0
   $ candump can0
   # send data to can0
   $ cansend can0 001#1122334455667788

You can run step 1-5 or "./setup_can2usb.bash" for the first-time setup and run step 2 or"./bringup_can2usb.bash" to bring up the device each time you unplug and re-plug the adapter.

import to your project

#!/usr/bin/env python3
# coding=utf-8
import pyagxrobots
robots=pyagxrobots.pysdkugv.robotstype()  #    robotstype depend on your robot

function list:

EnableCAN()
SetMotionCommand()
SetLightCommand()
GetRobotStae:
    MotionCommandMessage:
        GetLinearVelocity()
        GetAngularVelocity()
        GetLateralVelocity()
        GetSteeringAngle()
    LightCommandMessage:
        GetLightCmdCtrl()
        GetFrontMode()
        GetFrontCustom()
        GetRearMode()
        GetRearCustom()
    SystemStateMessage:
        GetVehicleState()
        GetControlMode()
        GetBatteryVoltage()
        GetErrorCode()
    RcStateMessage:
    OdometryMessage:
        GetLeftWheel()
        GetRightWheel()
    ActuatorStateMessageV2:
        rpm()
        current()
        pulse_count()
        driver_voltage()
        driver_temp()
        motor_temp()
        driver_state()

EnableCAN

• Prototype: EnableCAN()
• Description: Enable command and control mode.

SetMotionCommand

• Prototype: SetMotionCommand()
• Description:Send Version Request to robots.
• Parameters
  • linear_vel:(float)
  • angular_vel:(float)
  • lateral_velocity:(float)
  • steering_angle:(float)

GetLinearVelocity

• Prototype: GetLinearVelocity()
• Description:Get the linear velocity from robot
• Return:linear velocity

GetAngularVelocity

• Prototype: GetAngularVelocity()
• Description:Get the angular velocity from robot.
• Return:angular velocity

GetSteeringAngle

• Prototype: GetSteeringAngle()
• Description:Get the steering angle from robot .
• Return:steering angle

GetLateralVelocity

• Prototype: GetLateralVelocity()
• Description:Get the lateral velocity from robot .
• Return:lateral velocity

GetControlMode

• Prototype: GetControlMode()
• Description:Get the control mode from robot .
• Return:control mode

GetLeftWheelOdeom

• Prototype: GetLeftWheelOdeo()
• Description:get robots LeftWheelOdom .
• Return:LeftWheelOdom

GetRightWheelOdom

• Prototype: GetRightWheelOdom()
• Description:get robots RightWheelOdom .
• Return:RightWheelOdeom

GetBatteryVoltage

• Prototype: GetBatteryVoltage()
• Description:Get the battery voltage from robot
• Return:battery voltage

GetErrorCode

• Prototype: GetErrorCode()
• Description:Get the error code from robot
• Return:error code

Example

Note:

For safety, please ensure that the robot's wheels are off the ground

1.ScoutMini

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
scoutmini=pyagxrobots.pysdkugv.ScoutMiniBase()
scoutmini.EnableCAN()
num=5
while num>0:
    
    scoutmini.SetMotionCommand(linear_vel=0.1)
    print(scoutmini.GetLinearVelocity())
    time.sleep(0.3)
    num-=1

2.Bunker

#!/usr/bin/env python3
# coding=UTF-8
import pyagxrobots
import time
bunker=pyagxrobots.pysdkugv.BunkerBase()
bunker.EnableCAN()
num=5
while num>0:
    
    bunker.SetMotionCommand(linear_vel=0.1)
    print(bunker.GetLinearVelocity())
    time.sleep(0.3)
    num-=1