release v3.2.0

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.2.0 (2023-10-09)
+
+- release v3.2.0
+- Fix bug
+
 ## v3.1.9 (2023-09-19)
 
 - release v3.1.9
@@ -24,7 +29,7 @@
 ## v3.1.5 (2023-07-06)
 
 - release v3.1.5
-- Add mycobot interface：get_basic_version(),set_communicate_mode()
+- Add mycobot interface：get_basic_version(),set_transponder_mode()
 
 ## v3.1.4 (2023-07-05)
 

docs/README.md

@@ -97,7 +97,7 @@ We support Python2, Python3.5 or later.
     - [set\_plan\_acceleration](#set_plan_acceleration)
     - [set\_gservo\_round](#move_round)
     - [get\_basic\_version](#get_basic_version)
-    - [set\_communicate\_mode](#set_communicate_mode)
+    - [set\_communicate\_mode](#set_transponder_mode)
     - [get\_servo\_speeds](#get_servo_speeds)
     - [get\_servo\_currents](#get_servo_currents)
     - [get\_servo\_voltages](#get_servo_voltages)
@@ -1172,9 +1172,9 @@ Set the terminal atom io status
 
   - `version` (`float`)
 
-### set_communicate_mode
+### set_transponder_mode
 
-- **Prototype**: `set_communicate_mode(mode)`
+- **Prototype**: `set_transponder_mode(mode)`
 
 - **Description**: Set basic communication mode.
 

pymycobot/__init__.py

@@ -52,7 +52,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.2.0b2"
+__version__ = "3.2.0"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -405,6 +405,7 @@ def _process_received(self, data, genre, arm=6):
                     data1 = self._decode_int8(valid_data[i : i + 1])
                     res.append(0xFF & data1 if data1 < 0 else data1)
                 return res
+            print(valid_data)
             res.append(self._decode_int8(valid_data))
         if genre == ProtocolCode.GET_ACCEI_DATA:
             for i in range(len(res)):

pymycobot/generate.py

@@ -1092,17 +1092,17 @@ def get_basic_version(self):
         """Get basic firmware version"""
         return self._mesg(ProtocolCode.GET_BASIC_VERSION, has_reply = True)
 
-    def set_communicate_mode(self, mode):
+    def set_transponder_mode(self, mode):
         """Set basic communication mode
         
         Args:
             mode: 0 - Turn off transparent transmission，1 - Open transparent transmission
         """
         self.calibration_parameters(class_name = self.__class__.__name__, mode=mode)
-        return self._mesg(ProtocolCode.SET_COMMUNICATE_MODE, mode)
+        return self._mesg(ProtocolCode.SET_COMMUNICATE_MODE, mode, has_reply = True)
 
-    def get_communicate_mode(self):
-        self._mesg(ProtocolCode.GET_COMMUNICATE_MODE, has_reply = True)
+    def get_transponder_mode(self):
+        return self._mesg(ProtocolCode.GET_COMMUNICATE_MODE, has_reply = True)
 
     def get_angles_coords(self):
         """Get basic communication mode"""

pymycobot/mycobot.py

@@ -122,7 +122,9 @@ def _res(self, real_command, has_reply, genre):
                 ProtocolCode.GET_REFERENCE_FRAME,
                 ProtocolCode.GET_FRESH_MODE,
                 ProtocolCode.GET_GRIPPER_MODE,
-                ProtocolCode.GET_ERROR_INFO
+                ProtocolCode.GET_ERROR_INFO,
+                ProtocolCode.GET_COMMUNICATE_MODE,
+                ProtocolCode.SET_COMMUNICATE_MODE
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]:

pymycobot/mycobotsocket.py

@@ -111,7 +111,9 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_FRESH_MODE,
                 ProtocolCode.GET_GRIPPER_MODE,
                 ProtocolCode.GET_ERROR_INFO,
-                ProtocolCode.GET_GPIO_IN
+                ProtocolCode.GET_GPIO_IN,
+                ProtocolCode.GET_COMMUNICATE_MODE,
+                ProtocolCode.SET_COMMUNICATE_MODE
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]:

pymycobot/mypalletizer.py

@@ -143,7 +143,9 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_SPEED,
                 ProtocolCode.GET_ENCODER,
                 ProtocolCode.GET_BASIC_INPUT,
-                ProtocolCode.GET_TOF_DISTANCE
+                ProtocolCode.GET_TOF_DISTANCE,
+                ProtocolCode.GET_COMMUNICATE_MODE,
+                ProtocolCode.SET_COMMUNICATE_MODE
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]:

pymycobot/mypalletizersocket.py

@@ -104,7 +104,9 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_ENCODER,
                 ProtocolCode.GET_BASIC_INPUT,
                 ProtocolCode.GET_TOF_DISTANCE,
-                ProtocolCode.GET_GPIO_IN
+                ProtocolCode.GET_GPIO_IN,
+                ProtocolCode.GET_COMMUNICATE_MODE,
+                ProtocolCode.SET_COMMUNICATE_MODE
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]: