Merge pull request #121 from elephantrobotics/mycobot_280_refactor

Mycobot 280 refactor

Author: wangWking

docs/ultraArm_P340_en.md

@@ -33,21 +33,27 @@ from pymycobot.ultraArm import ultraArm
   - `1`: Movement end
   - `0`: Movement not end
 
-**1.5** `set_system_value(id, address, value)`
+**1.5** `set_system_value(id, address, value, mode=None)`
 
 - **Function:** Set system parameters
 - **Parameter description:**
   - `id`: `int`, Motor ID, 4 or 7
-  - `address`: `int`, Parameter register address, 0 ~ 69
+  - `address`: `int`, Parameter register address, 7 ~ 69
   - `value`: `int`, Corresponding register parameter value
+  - `mode`: `int`, 1 or 2, can be empty, default mode is 1
+    - `1`: setting range is 0-255, address 21 (P value) can be used 
+    - `2`: setting value range is 0-65535, address 56 (setting position) can be used
 - **Return value:** None
 
-**1.6** `get_system_value(id, address)`
+**1.6** `get_system_value(id, address,mode=None)`
 
 - **Function:** Read system parameters
 - **Parameter description:**
   - `id`: `int`, Motor ID, 4 or 7
   - `address`: `int`, Parameter register address, 0 ~ 69
+  - `mode`: `int`, 1 or 2, can be empty, default mode is 1
+    - `1`: read range is 0-255, address 21 (P value) can be used 
+    - `2`: read value range is 0-65535, address 56 (read position) can be used
 - **Return value:** `int`, Corresponding register parameter value
 
 **1.7** `get_system_version()`

docs/ultraArm_P340_zh.md

@@ -32,21 +32,27 @@ from pymycobot.ultraArm import ultraArm
   - `1`: 运动结束
   - `0`: 运动未结束
 
-**1.5** `set_system_value(id, address, value)`
+**1.5** `set_system_value(id, address, value, mode=None)`
 
 - **功能：** 设置系统参数
 - **参数说明：**
   - `id`: `int`, 电机ID，4 或者 7
-  - `address`: `int`, 参数寄存器地址，0 ~ 69
+  - `address`: `int`, 参数寄存器地址，7 ~ 69
   - `value`: `int`, 对应寄存器参数取值
+  - `mode`: `int`, 1 或者 2，可以为空，默认模式为1
+    - `1`: 设置范围为0-255，可使用地址21（P值）
+    - `2`: 设置取值范围0-65535，可使用地址56（设置位置）
 - **返回值：**  无
 
-**1.6** `get_system_value(id, address)`
+**1.6** `get_system_value(id, address, mode=None)`
 
 - **功能：** 读取系统参数
 - **参数说明：**
   - `id`: `int`, 电机ID，4 或者 7
   - `address`: `int`, 参数寄存器地址，0 ~ 69
+  - `mode`: `int`, 1 或者 2，可以为空，默认模式为1
+    - `1`: 读取范围为0-255，可使用地址21（P值）
+    - `2`: 读取取值范围0-65535，可使用地址56（读取位置）
 - **返回值：** `int`, 对应寄存器参数取值
 
 **1.7** `get_system_version()`

pymycobot/common.py

@@ -379,6 +379,8 @@ class ProtocolCode(object):
     GET_GRIPPER_ANGLE = "M50"
     SET_SYSTEM_VALUE = "M51"
     GET_SYSTEM_VALUE = "M52"
+    GET_SYSTEM_VERSION = "G6"
+    GET_MODIFY_VERSION = "G7"
 
 
 class DataProcessor(object):

pymycobot/ultraArm.py

@@ -137,7 +137,7 @@ def _request(self, flag=""):
                     header = "ReadSYS["
                     read = data.find(header) + len(header)
                     end = data[read:].find(']')
-                    return data[read:read + end]
+                    return int(data[read:read + end])
                 elif flag == 'system_version':
                     start_idx = data.find("GetSystemVersion[")
                     if start_idx != -1:
@@ -640,31 +640,45 @@ def get_gripper_angle(self):
         self._debug(command)
         return self._request("gripper")
 
-    def set_system_value(self, id, address, value):
+    def set_system_value(self, id, address, value, mode=None):
         """_summary_
 
         Args:
             id (int): 4 or 7
-            address (int): 0 ~ 69
-            value (int): 
+            address (int): 7 ~ 69
+            value (int):
+            mode (int): 1 or 2, can be empty, default mode is 1
+                1 - setting range is 0-255, address 21 (P value) can be used
+                2 - setting value range is 0-65535, address 56 (setting position) can be used
         """
-        command = ProtocolCode.SET_SYSTEM_VALUE + " X{} ".format(id) + "Y{} ".format(address) + "Z{} ".format(
-            value) + ProtocolCode.END
+        if mode:
+            command = ProtocolCode.SET_SYSTEM_VALUE + " X{} ".format(id) + "Y{} ".format(address) + "Z{} ".format(
+                value) + "P{} ".format(mode) + ProtocolCode.END
+        else:
+            command = ProtocolCode.SET_SYSTEM_VALUE + " X{} ".format(id) + "Y{} ".format(address) + "Z{} ".format(
+                value) + ProtocolCode.END
         self._serial_port.write(command.encode())
         self._serial_port.flush()
         self._debug(command)
 
-    def get_system_value(self, id, address):
+    def get_system_value(self, id, address, mode=None):
         """_summary_
 
         Args:
             id (int): 4 or 7
             address (_type_): 0 ~ 69
+            mode (int): 1 or 2, can be empty, default mode is 1
+                1 - read range is 0-255, address 21 (P value) can be used
+                2 - read value range is 0-65535, address 56 (read position) can be used
 
         Returns:
             _type_: _description_
         """
-        command = ProtocolCode.GET_SYSTEM_VALUE + " J{} ".format(id) + "S{} ".format(address) + ProtocolCode.END
+        if mode:
+            command = ProtocolCode.GET_SYSTEM_VALUE + " J{} ".format(id) + "S{} ".format(address) + "P{} ".format(
+                mode) + ProtocolCode.END
+        else:
+            command = ProtocolCode.GET_SYSTEM_VALUE + " J{} ".format(id) + "S{} ".format(address) + ProtocolCode.END
         self._serial_port.write(command.encode())
         self._serial_port.flush()
         self._debug(command)
@@ -677,7 +691,7 @@ def get_system_version(self):
         Returns:
             (float) Firmware version
         """
-        command = 'GetSystemVersion[1.50]' + ProtocolCode.END
+        command = ProtocolCode.GET_SYSTEM_VERSION + ProtocolCode.END
         self._serial_port.write(command.encode())
         self._serial_port.flush()
         self._debug(command)
@@ -690,7 +704,7 @@ def get_modify_version(self):
         Returns:
             (int) modify version
         """
-        command = 'GetModifyVersion[0]' + ProtocolCode.END
+        command = ProtocolCode.GET_MODIFY_VERSION + ProtocolCode.END
         self._serial_port.write(command.encode())
         self._serial_port.flush()
         self._debug(command)