Edit on GitHub

Abstract

pycm module

Definition
How to use

System Functions

delay()
console()
print()

Submodule of pycm(CM-550)

buzzer
led
button
imu
mic
rc
motion
OLLO APIs

Abstract

This is MicroPython APIs documentation of the ROBOTIS CM-550 controller.

pycm module

Definition

pycm is a module for controlling CM-550 hardware with MicoroPython, and it contains submodules for each function such as pycm.buzzer and pycm.led.

How to use

Example 1

All examples in the e-Manual of pycm use this method similarly.

pycm can be omitted when using its submodules.

# import pycm and all its submodules
from pycm import *

# Turn on Green LED
led.set(const.GREEN)
delay(1000)

Example 2

pycm should be specified when using submodules

# import pycm module only
import pycm

# Turn on Green LED (pycm must be specified before led module)
pycm.led.set(const.GREEN)
delay(1000)

System Functions

delay()

Description

wait for specified length of time (unit : 0.001 sec)

Syntax

delay(ms)

Parameters

ms: type: uint32_t, unit: milliseconds

Returns

None

Example

# wait for 0.8 sec
delay(800)

console()

Description

Configure communication port for print() function

Syntax

console(port)

Parameters

port: const.BLE(default port) / const.USB / const.UART

Returns

None

Example

# print through BLE
console(const.BLE)

# print through USB
console(const.USB)

# print through UART(4 pin port)
console(const.UART)

print()

Description

print number and/or text

Syntax

print(content)

Parameters

content: number OR string

Returns

None

Example

# Change line after print
print('Print with newline')

# Do not change line after print
print('without new line ', end = '')

# print the value of a variable
n = 791
print(n)

# print several values with SPACE between them
print('string', 1024, n)

# print several values without SPACE between them
print('string', 1024, n, sep='')

Submodule of pycm(CM-550)

Unless otherwise specified, the data type of function parameter is integer.

buzzer

buzzer.melody()

Description

play the melody of specified index number

Syntax

buzzer.melody(index)

Parameters

index : 0 ~ 25

Returns

None

Example

See the example of buzzer.wait()

buzzer.wait()

Description

wait until melody or scale playing is finished

Syntax

buzzer.wait()

Parameters

None

Returns

None

Example

from pycm import *


# play No. 1 melody
buzzer.melody(1)

# wait while the melody is playing
buzzer.wait()

buzzer.note()

Description

play the scale of specified index

Syntax

buzzer.note(index, ms)

Parameters

index : 0 ~ 51
ms : 1 ~ 5000 (unit: 0.001 sec)

Returns

None

Example

from pycm import *


# play No.20 scale for 0.8 sec
buzzer.note(20, 800)

# wait while the scale is playing
buzzer.wait()

led

led.set()

Description

turn on specified LEDs or turn off all LEDs

Syntax

led.set(leds)
led.set()

Parameters

leds : const.RED, const.GREEN, const.BLUE, const.ALL(combination of RED/GREEN/BLUE)
None : Turn off all LEDs

Returns

None

Example

from pycm import *

# Turn on Red and Green LED
led.set(const.RED | const.GREEN)
delay(800)

# Turn off all LEDs
led.set()

led.toggle()

Description

toggle the specified LEDs (ON -> OFF, OFF -> ON)

Syntax

led.toggle(leds)

Parameters

leds : const.RED, const.GREEN, const.BLUE, const.ALL(combination of RED/GREEN/BLUE)

Returns

None

Example

from pycm import *

# Toggle Green and Blue LED
led.toggle(const.GREEN | const.BLUE)
delay(800)

# Toggle Green and Blue LED
led.toggle(const.GREEN | const.BLUE)
delay(800)

Constant values for led

const.RED
const.GREEN
const.BLUE
const.ALL

button

button.pressed()

Description

If START button is pressed or not

Syntax

button.pressed()

Parameters

None

Returns

True on pressed
False on NOT pressed

Example

from pycm import *

while True:
    # GREEN LED on if START button is pressed
    # GREEN LED off if not pressed
    if button.pressed() == True :
        led.set(const.GREEN)
    else:
        led.set()

button.released()

Description

If START button is pressed then released

Syntax

button.released()

Parameters

None

Returns

True on pressed then released
False on NOT pressed or pressed but not released

Example

from pycm import *

while True:
    # toggle GREEN if START button is pressed then released
    if button.released() == True :
        led.toggle(const.GREEN)

button.millis()

Description

Number of milliseconds START button was pressed

Syntax

button.millis()

Parameters

None

Returns

milliseconds of START button was pressed

Example

from pycm import *
console(USB)

while True:
    if button.released() == True:
        ms = button.millis()
        print(ms)

button.seconds()

Description

Number of seconds START button was pressed

Syntax

button.seconds()

Parameters

None

Returns

seconds of START button was pressed

Example

from pycm import *
console(USB)

while True:
    if button.released() == True:
        s = button.seconds()
        print(s)

imu

eeprom.imu_type(direction)

Description

Configures the direction of controller for imu sensing

Syntax

eeprom.imu_type(direction)

Parameters

direction : const.V or const.H

const.V (vertical)

const.H (horizontal)

Returns

None

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)

imu.accel_x() / imu.accel_y() / imu.accel_z()

Description

Acceleration value in X/Y/Z-axis

Syntax

imu.accel_x(), imu.accel_y(), imu.accel_z()

Parameters

None

Returns

acceleration value of range -32768 ~ 32767 (unit: 0.001G)

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)
while True:
    ax = imu.accel_x()
    ay = imu.accel_y()
    az = imu.accel_z()
    print(ax, ay, az)
    delay(500)

imu.gyro_x() / imu.gyro_y() / imu.gyro_z()

Description

gyroeration value in X/Y/Z-axis

Syntax

imu.gyro_x(), imu.gyro_y(), imu.gyro_z()

Parameters

None

Returns

Gyro value of range -32768 ~ 32767 (unit: 0.01°/s)

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)
while True:
    gx = imu.gyro_x()
    gy = imu.gyro_y()
    gz = imu.gyro_z()
    print(gx, gy, gz)
    delay(500)

imu.roll()

Description

roll value

Syntax

imu.roll()

Parameters

None

Returns

roll value of range -18000 ~ 18000 (unit: 0.01°)

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)
while True:
    r = imu.roll()
    print(r)
    delay(500)

imu.pitch()

Description

pitch value

Syntax

imu.pitch()

Parameters

None

Returns

pitch value of range -9000 ~ 9000 (unit: 0.01°)

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)
while True:
    p = imu.pitch()
    print(p)
    delay(500)

imu.yaw()

Description

yaw value

Syntax

imu.yaw()

Parameters

None

Returns

yaw value of range -18000 ~ 18000 (unit: 0.01°)

Example

from pycm import *

console(USB)

eeprom.imu_type(const.V)
while True:
    y = imu.yaw()
    print(y)
    delay(500)

mic

mic.counting()

Description

The counting number of clapping sound currently playing continuously

Syntax

mic.counting()

Parameters

None

Returns

0 : no clapping sound currently (not started or finished)
N(1~255) : N continuous clapping until now

Example

from pycm import *
console(USB)

while True:
    now = mic.counting()
    print(now)
    delay(600)

mic.counted()

Description

The counting number of previously finished clapping sound

Syntax

mic.counted()

Parameters

None

Returns

0 : clapping sound not finished or this value is cleared
N(1~255) : the number of last continuous clapping is N

Example

from pycm import *

console(USB)
while True:
    now = mic.counting()
    final = mic.counted()
    print(now, final)
    delay(600)

Result

0
0
0     # clapping started
0     # counting() +1
0     # counting() +1
0     # counting() +1
0     # counting() +1
5     # clapping stopped, counting() become 0, counted() changed to 5
5     # counted() is still 5

mic.clear()

Description

Clear mic.counted() value to 0

Syntax

mic.clear()

Parameters

None

Returns

None

Example

from pycm import *

console(USB)
while True:
    if mic.counted() > 0 :
        print('final_detect =', mic.counted())
        mic.clear()
        print('cleared_count =', mic.counted())

Result

final_detect = 3
cleared_count = 0
final_detect = 2
cleared_count = 0
final_detect = 13
cleared_count = 0
final_detect = 10
cleared_count = 0

rc

rc.received()

Description

If a unread remocon packet is available

Syntax

rc.received()

Parameters

None

Returns

True : A remocon packet is arrived but not read by rc.read() function yet
False : A unread packet is not available.

Example

from pycm import *

while True:
    if rc.received() == True:
        led.set(CONST.RED)
    else:
        led.set()

rc.read()

Description

read the value of the last arrived remocon packet

Syntax

rc.read()

Parameters

None

Returns

0~65535: as a raw number, especially, we can use rc.BTN_X constant to represent RC-100B keys
rc.BTN_U (1) : Button U of RC-100B remote controller
rc.BTN_D (2) : Button D of RC-100B remote controller
rc.BTN_L (4) : Button L of RC-100B remote controller
rc.BTN_R (8) : Button R of RC-100B remote controller
rc.BTN_1 (16) : Button 1 of RC-100B remote controller
rc.BTN_2 (32) : Button 2 of RC-100B remote controller
rc.BTN_3 (64) : Button 3 of RC-100B remote controller
rc.BTN_4 (128) : Button 4 of RC-100B remote controller
rc.BTN_5 (256) : Button 5 of RC-100B remote controller
rc.BTN_6 (512) : Button 6 of RC-100B remote controller
OR(|) combination of rc.BTN_X keys

Example

from pycm import *

console(USB)
while True:
  if rc.received() == True :
    r = rc.read()

    print('Receive :')

    if r & rc.BTN_U > 0:
      print('U key')
    if r & rc.BTN_D > 0:
      print('D key')
    if r & rc.BTN_L > 0:
      print('L key')
    if r & rc.BTN_R > 0:
      print('R key')

Constant values for rc

rc.BTN_U
rc.BTN_D
rc.BTN_L
rc.BTN_R
rc.BTN_1
rc.BTN_2
rc.BTN_3
rc.BTN_4
rc.BTN_5
rc.BTN_6

motion

motion.wait()

Description

Wait until the currently playing motion is finished

Syntax

motion.wait()

Parameters

None

Returns

None

Example

from pycm import *

motion.play(1)
motion.wait()

led.set(CONST.GREEN)

delay(1000)

motion.play()

Description

play specified motion

Syntax

motion.play(motion_number)
motion.play(motion_number, next_motion)

Parameters

motion_number:
- 0 : Stop motion using an Exit Motion unit.
- 1~65532 : Play motion
- 65533 : Stop motion immediately
- 65534 : Stop motion at the current keyframe
- 65535 : Stop motion at the current motion unit
next_motion: The motion number that is reserved for smooth play after motion_number motion is finished. But the user should call motion.play(motion_number) to start next_motion motion.
None : Turn off all LEDs

Returns

None

Example

from pycm import *
console(USB)

while True:
    motion.play(1)
    print('play motion 1')
    motion.wait()
    print('play motion 2\n')
    motion.play(2)
    motion.wait()
    delay(1000)

    motion.play(1, 2)
    print('play motion 1 (with motion 2 reserved)')
    motion.wait()
    print('play motion 2\n')
    motion.play(2)
    motion.wait()
    delay(1000)

motion.status()

Description

If any motion is playing currently

Syntax

motion.status()

Parameters

None

Returns

True : A motion is being played now
False : No motion is being played now

Example

from pycm import *

motion.play(1)

while True:
    if motion.status() == True:
        led.set(CONST.RED)
    else:
        led.set()

motion.count()

Description

The number of motions stored in CM-550 controller

Syntax

motion.count()

Parameters

None

Returns

0~1020

Example

from pycm import *

console(USB)

print(motion.count())

OLLO APIs

OLLO()

Description

Generate an object for the specified 5-pin port with specified 5-pin module type

Syntax

OLLO(port_num, module_type)

Parameters

module_type	port_num
const.OLLO_WHEEL_SPEED	1, 2
const.OLLO_JOINT_POSITION	1, 2
const.OLLO_JOINT_SPEED	1, 2
const.OLLO_IR	1, 2
const.OLLO_MOISTURE	1, 2
const.OLLO_MOISTURE_TEMP	1, 2
const.OLLO_RED_BRIGHTNESS	1, 2
const.OLLO_BLUE_BRIGHTNESS	1, 2
const.OLLO_DMS	1,2,3,4,5
const.OLLO_TOUCH	1,2,3,4,5
const.OLLO_LED	1,2,3,4,5
const.OLLO_USER	1,2,3,4,5
const.OLLO_TEMPERATURE	1,2,3,4,5
const.OLLO_MAGNET	1,2,3,4,5
const.OLLO_MOTION_DETECTION	1,2,3,4,5
const.OLLO_COLOR	1,2,3,4,5
const.OLLO_BRIGHTNESS	1,2,3,4,5

Returns

5-pin module object

Example

from pycm import *


# object stands for Wheel Motor connected to port 1
wheel_1 = OLLO(1, const.OLLO_WHEEL_SPEED)
# set wheel speed to 500, CCW
wheel_1.write(500)

delay(4000)

object.read()

Description

Read sensing value of specified 5-pin module object

Syntax

object.read()

Parameters

None

Returns

module_type (device link)	Function	Meaning of return value	Range
OLLO_WHEEL_SPEED	read()	Wheel motor speed	[0, 1023] CCW [1024, 2047] CW
OLLO_JOINT_POSITION	read()	Servo motor position	[0, 1023]
OLLO_JOINT_SPEED	read()	Servo motor speed	[0, 1023]
OLLO_IR	read()	IR sensor value	[0, 1023]
OLLO_MOISTURE	read()	Relative humidity value	[0, 100] (%)
OLLO_MOISTURE_TEMP	read()	Temperature value	[-20, 105] (°C)
OLLO_RED_BRIGHTNESS	read()	Red brightness of Red-Blue LED Module	[0, 100] (%)
OLLO_BLUE_BRIGHTNESS	read()	Blue brightness of Red-Blue LED Module	[0, 100] (%)
OLLO_DMS	read()	DMS sensor value	[0, 1023]
OLLO_TOUCH	read()	Tact switch sensor status	0 : Released 1 : Pushed
OLLO_LED	read()	LED module status	0 : Both OFF 1 : Left OFF, Right ON 2 : Left ON, Right OFF 3 : Both ON
OLLO_USER	read()	Analog value of User Device	[0, 1023]
OLLO_TEMPERATURE	read()	temperature value	[-20, 105] (°C)
OLLO_MAGNET	read()	Magnet sensor status	0 : No magnet 1 : Magnet detected
OLLO_MOTION_DETECTION	read()	Motion sensor status	0 : No motion 1 : Motion detected
OLLO_COLOR	read()	Sensed color index	0 : Unknown 1 : White 2 : Black 3 : Red 4 : Green 5 : Blue 6 : Yellow
OLLO_BRIGHTNESS	read()	Brightness	[0, 1023]

NOTE: OLLO_MOISTURE, OLLO_MOISTURE_TEMP and OLLO_BRIGHTNESS’s manuals are currently available for Korean instruction only.

Example

from pycm import *

console(USB)

servo_1 = OLLO(1, const.OLLO_JOINT_POSITION)

position = servo_1.read()
print('servo 1 position = ', position)

object.write()

Description

Change 5-pin module object’s parameter

Syntax

object.write(parameter1, parameter2,…)

Parameters

module_type (device link)	Function	Meaning of parameter	Range
OLLO_WHEEL_SPEED	write(velocity)	Wheel motor velocity	[0, 1023] CCW [1024, 2047] CW
OLLO_JOINT_POSITION	write(position)	Servo motor position	[0, 1023]
OLLO_JOINT_SPEED	write(speed)	Servo motor speed for position control	[0, 1023]
OLLO_LED	write(left, write)	left : control value for left LED right : control value for right LED	0 : OFF 1 : ON
OLLO_USER	write(out1, out2)	out1 : control value for OUT1 pin out2 : control value for OUT2 pin	0 : 0V 1 : 5V

Returns

None

Example

from pycm import *

ledl_1 = OLLO(1, const.OLLO_LED)
# turn on left LED, turn off right LED
led_1.write(1, 0)

delay(4000)

Constant values for OLLO

const.OLLO_WHEEL_SPEED
const.OLLO_JOINT_POSITION
const.OLLO_JOINT_SPEED
const.OLLO_IR
const.OLLO_MOISTURE
const.OLLO_MOISTURE_TEMP
const.OLLO_RED_BRIGHTNESS
const.OLLO_BLUE_BRIGHTNESS
const.OLLO_DMS
const.OLLO_TOUCH
const.OLLO_LED
const.OLLO_USER
const.OLLO_TEMPERATURE
const.OLLO_MAGNET
const.OLLO_MOTION_DETECTION
const.OLLO_COLOR
const.OLLO_BRIGHTNESS