chore: fix set_pwm_output()

Author: zlj-zz

CHANGELOG.md

@@ -1,5 +1,10 @@
 # 2021
 
+## 5.27
+
+- release v2.4.2
+- fixed `set_pwm_output()`
+
 ## 5.24
 
 - update demo.

pymycobot/README.md

@@ -552,12 +552,19 @@ from pymycobot.mycobot import MyCobot
 <!-- ### set_pwm_mode()
 
 - **Description**
-- **Parameters**
+- **Parameters**-->
 
 ### set_pwm_output()
 
-- **Description**
-- **Parameters** -->
+- **Prototype**: `set_pwm_output(channel, frequency, pin_val)`
+
+- **Description**: PWM control.
+
+- **Parameters**
+
+  - `channel` (`int`): IO number.
+  - `frequency` (`int`): clock frequency
+  - `pin_val` (`int`): Duty cycle 0 ~ 256; 128 means 50%
 
 ### get_gripper_value
 

pymycobot/__init__.py

@@ -2,7 +2,7 @@
 
 __all__ = ["mycobot", "genre"]
 
-__version__ = "2.4.1"
+__version__ = "2.4.2"
 __author__ = "Zachary zhang"
 __email__ = "lijun.zhang@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/mycobot.py

@@ -69,7 +69,7 @@ class MyCobot(MyCobotData):
             set_pin_mode()
             set_digital_output()
             get_digital_input()
-            set_pwm_mode()
+            set_pwm_mode() x
             set_pwm_output()
             get_gripper_value()
             set_gripper_state() *
@@ -515,11 +515,13 @@ def get_digital_input(self, pin_no):
             self.__mesg(Command.GET_DIGITAL_INPUT, pin_no, has_reply=True)
         )
 
+    '''
     def set_pwm_mode(self, pin_no, channel):
         self.__mesg(Command.SET_PWM_MODE, pin_no, channel)
+    '''
 
-    def set_pwm_output(self, channel, pin_val):
-        self.__mesg(Command.SET_PWM_OUTPUT, channel, pin_val)
+    def set_pwm_output(self, channel, frequency, pin_val):
+        self.__mesg(Command.SET_PWM_OUTPUT, channel, [frequency], pin_val)
 
     def get_gripper_value(self):
         return self._process_single(