Fix transmission angle or coordinate jam problem

Author: anla-xu

pymycobot/common.py

@@ -187,4 +187,3 @@ def read(self):
         self.log.debug("_read: no data can be read")
         data = None
     return data
-

pymycobot/generate.py

@@ -10,7 +10,6 @@
 
 class MyCobotCommandGenerator(DataProcessor):
     """MyCobot Python API
-    
     Annotations:
         * = Chain operation
         x = ??? 
@@ -185,7 +184,7 @@ def send_angle(self, id, degree, speed):
             degree (float): angle value.
             speed (int): 0 ~ 100
         """
-        calibration_parameters(id=id, degree=degree, speed=speed)
+        self.calibration_parameters(id=id, degree=degree, speed=speed)
         return self._mesg(ProtocolCode.SEND_ANGLE, id, [self._angle2int(degree)], speed)
 
     # @check_parameters(Command.SEND_ANGLES)
@@ -198,7 +197,7 @@ def send_angles(self, degrees, speed):
                 example for mypalletizer [0.0, 0.0, 0.0, 0.0]
             speed (int): 0 ~ 100
         """
-        calibration_parameters(degrees=degrees, speed=speed)
+        self.calibration_parameters(degrees=degrees, speed=speed)
         degrees = [self._angle2int(degree) for degree in degrees]
         return self._mesg(ProtocolCode.SEND_ANGLES, degrees, speed)
 
@@ -220,7 +219,7 @@ def send_coord(self, id, coord, speed):
             coord(float): mm
             speed(int): 0 ~ 100
         """
-        calibration_parameters(id=id, speed=speed)
+        self.calibration_parameters(id=id, speed=speed)
         value = self._coord2int(coord) if id <= 3 else self._angle2int(coord)
         return self._mesg(ProtocolCode.SEND_COORD, id, [value], speed)
 
@@ -234,7 +233,7 @@ def send_coords(self, coords, speed, mode):
             speed(int);
             mode(int): 0 - angluar, 1 - linear
         """
-        calibration_parameters(coords=coords, speed=speed)
+        self.calibration_parameters(coords=coords, speed=speed)
         coord_list = []
         for idx in range(3):
             coord_list.append(self._coord2int(coords[idx]))
@@ -255,14 +254,14 @@ def is_in_position(self, data, id=0):
             -1: error data
         """
         if id == 1:
-            calibration_parameters(coords=data)
+            self.calibration_parameters(coords=data)
             data_list = []
             for idx in range(3):
                 data_list.append(self._coord2int(data[idx]))
             for idx in range(3, 6):
                 data_list.append(self._angle2int(data[idx]))
         elif id == 0:
-            calibration_parameters(degrees=data)
+            self.calibration_parameters(degrees=data)
             data_list = [self._angle2int(i) for i in data]
         else:
             raise Exception("id is not right, please input 0 or 1")
@@ -363,7 +362,7 @@ def set_speed(self, speed):
         Args:
             speed (int): 0 - 100
         """
-        calibration_parameters(speed=speed)
+        self.calibration_parameters(speed=speed)
         return self._mesg(ProtocolCode.SET_SPEED, speed)
 
     """
@@ -379,11 +378,11 @@ def get_acceleration(self):
     """
 
     def get_joint_min_angle(self, joint_id):
-        calibration_parameters(id=joint_id)
+        self.calibration_parameters(id=joint_id)
         return self._mesg(ProtocolCode.GET_JOINT_MIN_ANGLE, joint_id, has_reply=True)
 
     def get_joint_max_angle(self, joint_id):
-        calibration_parameters(id=joint_id)
+        self.calibration_parameters(id=joint_id)
         return self._mesg(ProtocolCode.GET_JOINT_MAX_ANGLE, joint_id, has_reply=True)
 
     # Servo control
@@ -437,7 +436,7 @@ def set_color(self, r=0, g=0, b=0):
             b (int): 0 ~ 255
 
         """
-        calibration_parameters(rgb=[r, g, b])
+        self.calibration_parameters(rgb=[r, g, b])
         return self._mesg(ProtocolCode.SET_COLOR, r, g, b)
 
     def set_pin_mode(self, pin_no, pin_mode):
@@ -489,7 +488,7 @@ def set_gripper_value(self, value, speed):
             value (int): 0 ~ 100
             speed (int): 0 ~ 100
         """
-        calibration_parameters(speed=speed)
+        self.calibration_parameters(speed=speed)
         return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, value, speed)
 
     def set_gripper_ini(self):

pymycobot/mypalletizer.py

@@ -2,6 +2,7 @@
 
 import logging
 import math
+import time
 
 from .log import setup_logging
 from .generate import MyCobotCommandGenerator
@@ -183,8 +184,8 @@ def sync_send_angles(self, degrees, speed, timeout=7):
         t = time.time()
         self.send_angles(degrees, speed)
         while time.time() - t < timeout:
-            f = self.is_in_position(degrees, 0)
-            if f:
+            f = self.is_moving()
+            if not f:
                 break
             time.sleep(0.1)
         return self
@@ -193,7 +194,7 @@ def sync_send_coords(self, coords, speed, mode, timeout=7):
         t = time.time()
         self.send_coords(coords, speed, mode)
         while time.time() - t < timeout:
-            if self.is_in_position(coords, 1):
+            if not self.is_moving():
                 break
             time.sleep(0.1)
         return self