@@ -59,7 +59,7 @@ Mall link:
5959If the video fails to load, please click the link below to view the video.
6060[ Installing Vidio] ( https://www.youtube.com/watch?v=RPKjV0IuP5E )
6161
62- ** Installation and use**
62+ ### ** Installation and use**
6363
6464- Clamping jaws mounting：
6565
@@ -80,9 +80,9 @@ If the video fails to load, please click the link below to view the video.
8080
8181<br >
8282
83- ** myCobot Pro 320 Instructions for use**
83+ ### ** myCobot Pro 320 Instructions for use**
8484
85- - Programming development (python)：
85+ #### Programming development (python)：
8686
8787 > Programming and development of the jaws using python:
8888> [ python environment download] ( ../../../7-ApplicationBasePython/7.1_download.md )
@@ -135,37 +135,104 @@ If the video fails to load, please click the link below to view the video.
135135
136136 > You can see the jaws open - close- open
137137
138- - Programming Development (myblockly):
139-
140- > Programming and development of the jaws using myblockly:
141- > [myblockly download](../ ../ ../ 5 - BasicApplication/ 5.2 - ApplicationUse/ myblockly/ 320pi / 2 - install_uninstall.md)
142- > Note that before developing with myblockly, you need to have run `mc.set_gripper_mode(0 )` with a python program to set the jaws to 485 mode.
143-
144- 1 . After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
145- 
146- 2 . Modify the baud rate to 115200
147- 
148- 3 . Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
149- 
150- 4 . The drag module is attached under the `initialise mycobot` module, modify the degree of spread and speed as required, here it is set to `70 ` .
151- 
152- 5 . In `Time` , select `Sleep` module
153- 
154- 6 . Set the time to `2 seconds` to allow time for the jaws to move.
155- 
156- 7 . Repeat the selection of the `Set Jaw Value` and `Sleep` modules to change the `Set Jaw Value` opening level to `0 ` .
157- 
158- 
159- 8 . Find `Jaws` in the list on the left and select the `Set Jaw Value` module.
160- 
161- 9 . Modify status to `open ' and speed to `70'
162- 
163- 10 . Click on the green running icon in the upper right corner to see the jaws `open - close- open ` in motion
164-
165- < !-- 2 Development with SDK
166- - [Blockly]()
167- - [Python]()
168- - [C++ ]() -- >
138+ # ### Programming Development (myblockly):
139+
140+ > Programming and development of the gripper using myblockly:
141+ > [myblockly download](../ ../ ../ 5 - BasicApplication/ 5.2 - ApplicationUse/ 5.2 .1- myblockly/ 320pi / 2 - install_uninstall.md)
142+
143+ - ** Port Passthrough Mode Method 1 :**
144+
145+ 1 . After confirming that the structural and electrical connections are complete, start the arm and open the myblockly software when the graphical interface appears.
146+ 
147+ 2 . Modify the baud rate to 115200 .
148+ 
149+ 3 . Find `Gripper` in the list on the left and select the `Set Gripper Mode` module.
150+ 
151+ 4 . Drag and drop under the `init` module and select `Transparent Transmission` .
152+ 
153+ 5 . In `Loops` , select `repeat` module.
154+ 
155+ 6 . Set the times to `3 times` .
156+ 
157+ 7 . In `Gripper` , select the `Set Gripper State` module, put it in the `repeat` module, set it to open at 20 speed, and the gripper type to Adaptive Gripper.
158+ 
159+ 
160+ 8 . In `Time` , find the `Sleep` module and set the time to 2s , the purpose is to give the gripper time to make a movement.
161+ 
162+ 
163+ 9 . In `Gripper` , select the `Set Gripper State` module, put it in the `repeat` module, set it to close at 20 speed, and the gripper type to Adaptive Gripper.
164+ 
165+ 10 . In `Time` , find the `Sleep` module and set the time to 2s , the purpose is to give the gripper time to make a movement.
166+ 
167+ 11 . Final flowchart and code.
168+ 
169+
170+ ```python
171+ from pymycobot.mycobot import MyCobot
172+ import time
173+
174+ mc = MyCobot(' /dev/ttyAMA0' 115200 )
175+ mc.set_gripper_mode(0 )
176+ for count in range (3 ):
177+ mc.set_gripper_state(0 ,20 ,1 )
178+ time.sleep(2 )
179+ mc.set_gripper_state(1 ,20 ,1 )
180+ time.sleep(2 )
181+ ```
182+ 12 . Click on the green running icon in the upper right corner to see the jaws `open - close- open ` in motion.
183+
184+ - ** Port Passthrough Mode Method 2 :**
185+ 1 . The process framework is the same as method 1 , except that the `Set Gripper Mode` module is replaced by `Set Gripper Value` .
186+ 
187+ 2 . Final flowchart and code.
188+ 
189+
190+ ```python
191+ from pymycobot.mycobot import MyCobot
192+ import time
193+
194+ mc = MyCobot(' /dev/ttyAMA0' 115200 )
195+ mc.set_gripper_mode(0 )
196+ for count in range (3 ):
197+ mc.set_gripper_value(10 ,50 ,1 )
198+ time.sleep(2 )
199+ mc.set_gripper_value(90 ,50 ,1 )
200+ time.sleep(2 )
201+ ```
202+
203+ - ** IO Control Mode:**
204+ 1 . Setting the `Set Gripper Mode` module to Port Mode.
205+ 
206+ 2 . Again select the `repeat` module and loop through it three times.
207+ 
208+ 3 . In `ATOM IO ` select the `Setting IO value` module.
209+ 
210+ 4 . Set the IO port to 33 with a value of 0 .
211+ 
212+ 5 . In `Time` select the `Sleep` module.
213+ 
214+ 6 . Setting time to 2s .
215+ 
216+ 7 . Repeat the selection of the `Setting IO value` and `Sleep` modules, noting the change of IO number and the change of value.
217+ 
218+ 8 . Final flowchart and code.
219+ 
220+ ```python
221+ from pymycobot.mycobot import MyCobot
222+ import time
223+
224+ mc = MyCobot(' /dev/ttyAMA0' 115200 )
225+ mc.set_gripper_mode(1 )
226+ for count in range (3 ):
227+ mc.set_digital_output(33 , 0 )
228+ time.sleep(2 )
229+ mc.set_digital_output(33 , 1 )
230+ time.sleep(2 )
231+ mc.set_digital_output(23 , 0 )
232+ time.sleep(2 )
233+ mc.set_digital_output(23 , 1 )
234+ time.sleep(2 )
235+ ```
169236
170237-- -
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