Moby gRPC Client Python API

Moby gRPC API List

Get EtherCAT Tx/Rx data

Command	Description	Parameters	Return Type
`get_motor_dirver_tx(slave_num: int)`	Get the EtherCAT Tx data of motor driver by index.	`slave_num: int`	`dict`
`get_motor_dirver_rx(slave_num: int)`	Get the EtherCAT Rx data of motor driver by index.	`slave_num: int`	`dict`

For the examples, you can get the motor driver's Tx and Rx data as follows:

tx3 = moby.get_motor_dirver_tx(3)
rx3 = moby.get_motor_dirver_rx(3)
print(tx3)
print(rx3)

Output:

{'statusWord': 5175, 'modeOpDisp': 10, 'actualPosition': -23, 'actualVelocity': 0, 'actualTorque': 0}
{'controlWord': 15, 'modeOp': 10, 'targetPosition': 0, 'targetVelocity': 0, 'targetTorque': 0}

Get Moby status data

Command	Description	Parameters	Return Type
`get_moby_state()`	Get the current state of the Moby	-	`dict`
`get_moby_error_state()`	Get the error state of the Moby	-	`str`

For the examples, you can get Moby's current state and error state as follows:

state = moby.get_moby_state()
print(state)

error = moby.get_moby_error_state()
print(error)

Output:

{'is_ready': True, 'is_moving': False, 'is_move_finished': True, 'is_emg_pushed': False, 'is_error_state': False, 'is_home_pose': False, 'is_resetting': False, 'is_imu_avail': True, 'is_program_running': False, 'is_program_pause': False, 'is_rotation_zero': False}

NONE

Here, Moby's error category is

NONE
HW_EMG_PUSH
HW_CONNECTION_LOST
ECAT_MASTER_NOT_OP
ECAT_SLAVE_NOT_OP
ECAT_MOTOR_NOT_SERVO_ON
ECAT_MOTOR_ERROR
ECAT_SYSTEM_NOT_READY
ECAT_ENCODER1_ERROR
ECAT_ENCODER2_ERROR
ECAT_ENCODER3_ERROR
ECAT_ENCODER4_ERROR
SW_POSITION_LIMIT
SW_TORQUE_LIMIT

Get Moby Odometry and Physical data

Command	Description	Parameters	Return Type
`get_moby_pose()`	Get the Moby pose including position and orientation.	None	`list`
`get_moby_vel()`	Get the Moby velocity including linear and angular velocities.	None	`list`
`reset_moby_pose()`	Reset the Moby pose to its initial state.	None	None
`get_rotation_angle()`	Get the Moby's rotation angle.	None	`dict`
`get_drive_speed()`	Get the drive speed of Moby.	None	`list`
`get_target_vel()`	Get the target velocity of Moby.	None	`list`
`get_zero()`	Get the zero point of Moby.	None	`dict`

For the examples, you can get the MobyOdometry and Physical data as follows:

pose_data = moby.get_moby_pose()
vel_data = moby.get_moby_vel()
rotation_angle = moby.get_rotation_angle()
drive_speed = moby.get_drive_speed()
target_vel = moby.get_target_vel()
zero_point = moby.get_zero()

print("Pose", pose_data)
print("Velocity", vel_data)
print("Rotation angle", rotation_angle)
print("Driving speed", drive_speed)
print("Target velocity", target_vel)
print("Zero position", zero_point)

moby.reset_moby_pose()

Output:

Pose [0.0, 0.0, -0.0]

Velocity [0.0, 0.0, 0.0]

Rotation angle {'fl': -0.0, 'fr': -0.00, 'bl': 0.00, 'br': -0.00}

Driving speed {'fl': 0.0, 'fr': 0.0, 'bl': 0.0, 'br': 0.0}

Target velocity [0.0, 0.0, 0.0]

Zero position {'fl': 9410731, 'fr': -2143286890, 'bl': 266461587, 'br': -1685613215}

In this example, the MobyOdometry and Physical data are retrieved using the respective functions, and the pose is reset to its initial state using the reset_moby_pose() function.

Get Sensor data

Command	Description	Parameters	Return Type
`get_gyro_data()`	Get the gyroscope data. Heading angle and angular velocity as [rad] and [rad/s] units	None	`dict`
`reset_gyro()`	Reset the gyroscope data	None	None
`get_imu_data()`	Get the Inertial Measurement Unit (IMU) data. Angle, angular velocity, linear acceleration	None	`[list, list, list]`
`get_ir_data()`	Get the Infrared (IR) sensor data	None	`dict`
`get_bms()`	Get the Battery Management System (BMS) data	None	`dict`

For the examples, you can get the sensor data as follows:

gyro_data = moby.get_gyro_data()
moby.reset_gyro()
imu_data = moby.get_imu_data()
ir_data = moby.get_ir_data()
bms_data = moby.get_bms()

print("Gyro data")
print(gyro_data)
print("IMU all")
print(imu_data)
print("IR data")
print(ir_data)
print("BMS")
print(bms_data)

Output:

Gyro data
[-0.0, -0.0]

IMU all
([0.0, 0.0, -0.0], [0.0, 0.0, 0.0], [-0.0, 0.0, 9.56148375])

IR data
{'ir_front1': 65535, 'ir_front2': 65535, 'ir_left1': 65535, 'ir_left2': 65535, 'ir_left3': 65535, 'ir_rear': 65535, 'ir_right1': 65535, 'ir_right2': 65535, 'ir_right3': 65535}

BMS
{'BMS status-1': 98.0, 'BMS status-2': 98.0, 'Pack voltage-1': 55.59, 'Pack voltage-2': 55.87, 'Battery Voltage-1': 55.63, 'Battery Voltage-2': 55.64, 'Pack current1-1': 0.0, 'Pack current1-2': 0.0, 'Pack current2-1': -0.2, 'Pack current2-2': -0.4}

In this example, the gyro_data, imu_data, ir_data, and bms_data variables store the data from the gyroscope, IMU, IR sensors, and BMS, respectively. You can access specific values using the keys in the dictionary. For example, to access the x-axis angle value of the IMU data, you would use imu_data[0][0].

This example shows how to access specific values from the sensor data dictionaries and print them out.

Moby Motion Command

Command	Description	Parameters
`stop_motion()`	Stops all motion of Moby.	None
`set_target_velocity(vx: float, vy: float, vw: float)`	Sets the target linear and angular velocities for Moby.	`vx: float` `vy: float` `vw: float`
`move_rotation_deg(fl: float, fr: float, bl: float, br: float)`	Rotates each wheel of Moby by specified angles in degrees.	`fl: float` `fr: float` `bl: float` `br: float`
`move_driving_mps(fl: float, fr: float, bl: float, br: float)`	Drives each wheel of Moby at specified speeds in meters per second.	`fl: float` `fr: float` `bl: float` `br: float`

For the examples, you can control Moby's motion using the following commands:

# Stop Moby's motion
moby.stop_motion()

# Set target velocity (linear_x, linear_y, angular_z)
moby.set_target_velocity(0.5, 0.0, 0.1)

# Rotate each wheel by 90 degrees
moby.move_rotation_deg(fl=90, fr=90, bl=90, br=90)

# Drive each wheel forward for 0.5 m/s
moby.move_driving_mps(fl=0.5, fr=0.5, bl=0.5, br=0.5)

These examples demonstrate how to use the Moby motion commands to control the robot's movement.