Merge pull request #100 from elephantrobotics/mycobot_280_refactor

Mycobot 280 refactor

Author: wangWking

pymycobot/error.py

@@ -550,9 +550,11 @@ def calibration_parameters(**kwargs):
             elif parameter == 'flag':
                 check_0_or_1(parameter, value, [0, 1, 254], value_type, MyCobot280DataException, int)
             elif parameter == 'gripper_type':
-                check_0_or_1(parameter, value, [1, 3, 4], value_type, MyCobot280DataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 3, 4, 5], value_type, MyCobot280DataException, int)
             elif parameter == '_type_1':
-                check_0_or_1(parameter, value, [1, 2, 3, 4], value_type, MyCobot280DataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 2, 3, 4, 5], value_type, MyCobot280DataException, int)
             elif parameter == 'gripper_value':
                 check_value_type(parameter, value_type, MyCobot280DataException, int)
                 if value < 0 or value > 100:
@@ -636,6 +638,9 @@ def calibration_parameters(**kwargs):
                                                                                          value))
             elif parameter == 'end_direction':
                 check_0_or_1(parameter, value, [1, 2, 3], value_type, MyCobot280DataException, int)
+            elif parameter == 'is_torque':
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1], value_type, MyCobot280DataException, int)
     elif class_name in ["MyCobot320", "MyCobot320Socket"]:
         for parameter in parameter_list[1:]:
             value = kwargs.get(parameter, None)
@@ -800,76 +805,54 @@ def calibration_parameters(**kwargs):
                     raise MyCobot320DataException(
                         "The range of 'speed' in {} is 1 ~ 100, but the received value is {}".format(parameter,
                                                                                                      speed))
-            elif parameter == "joint_id":
-                check_value_type(parameter, value_type, MyCobot320DataException, int)
-                if not 0 <= value <= 6:
-                    raise MyCobot320DataException(
-                        "speed value not right, should be 1 ~ 100, the received speed is %s"
-                        % value
-                    )
+
             elif parameter == "set_gripper_args":
+                if len(value) != 3:
+                    raise ValueError(f"Expected 3 arguments, but got {len(value)}")
                 gripper_id, address, data = value
-                if not isinstance(gripper_id, int) or not isinstance(address, int):
+                if not isinstance(gripper_id, int) or not isinstance(address, int) or not isinstance(data, int):
                     raise MyCobot320DataException(
                         "All arguments in {} must be integers".format(parameter))
                 if gripper_id < 1 or gripper_id > 254:
                     raise MyCobot320DataException(
                         "The range of 'gripper_id' in {} is 1 ~ 254, but the received value is {}".format(parameter,
                                                                                                           gripper_id))
-                invalid_addresses = [1, 2, 4, 5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 24, 26, 27, 28, 32, 33,
-                                     36,
-                                     37, 38, 39, 40, 42, 44]
-                if address < 1 or address > 48:
+                invalid_addresses = [1, 2, 4, 5, 6, 7, 8, 9, 12, 14, 15, 16, 17, 18, 19, 20, 22, 24, 26, 28, 33, 34, 35,
+                                     40, 42, 44]
+                if address < 1 or address > 44:
                     raise MyCobot320DataException(
-                        "The range of 'address' in {} is 1 ~ 48, but the received value is {}".format(parameter,
+                        "The range of 'address' in {} is 1 ~ 44, but the received value is {}".format(parameter,
                                                                                                       address))
                 if address in invalid_addresses:
                     raise MyCobot320DataException(
                         "'address' in {} cannot be one of the following values: {}, but the received value is {}".format(
                             parameter, invalid_addresses, address))
-                print('data:', data)
-                if isinstance(data, list):
-                    # 处理 data 为列表的情况
-                    if len(data) != 6:
+                # 根据 address 来处理 value
+                if address in [3, 43]:
+                    if data < 1 or data > 254:
                         raise MyCobot320DataException(
-                            "data must be a list of length 6。"
-                        )
-                    for index, value in enumerate(data):
-                        if not (0 <= value <= 100):
-                            raise MyCobot320DataException(
-                                "Each value in the data list must be between 0 and 100. Error index {}: The received value is {}".format(index, value)
-                            )
-                else:
-                    if not isinstance(data, int):
+                            "Error in parameter '{}': The range of 'value' for address={} is 1 ~ 254, but the received value is {}".format(
+                                parameter, address, data))
+                elif address == 10:
+                    if data not in [0, 1]:
                         raise MyCobot320DataException(
-                            "The parameter {} must be an integer".format(data)
-                        )
-                    # 根据 address 来处理 value
-                    if address in [3, 43]:
-                        if data < 1 or data > 254:
-                            raise MyCobot320DataException(
-                                "Error in parameter '{}': The range of 'value' for address={} is 1 ~ 254, but the received value is {}".format(
-                                    parameter, address, data))
-                    elif address == 10:
-                        if data not in [0, 1]:
-                            raise MyCobot320DataException(
-                                "Error in parameter '{}': Value for address={} must be 0 or 1, but the received value is {}".format(
-                                    parameter, address, data))
-                    elif address in [25]:
-                        if data < 0 or data > 254:
-                            raise MyCobot320DataException(
-                                "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 254, but the received value is {}".format(
-                                    parameter, address, data))
-                    elif address in [21, 23]:
-                        if data < 0 or data > 16:
-                            raise MyCobot320DataException(
-                                "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 16, but the received value is {}".format(
-                                    parameter, address, data))
-                    elif address == 41:
-                        if data < 0 or data > 100:
-                            raise MyCobot320DataException(
-                                "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 100, but the received value is {}".format(
-                                    parameter, address, data))
+                            "Error in parameter '{}': Value for address={} must be 0 or 1, but the received value is {}".format(
+                                parameter, address, data))
+                elif address in [25]:
+                    if data < 0 or data > 254:
+                        raise MyCobot320DataException(
+                            "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 254, but the received value is {}".format(
+                                parameter, address, data))
+                elif address in [21, 23]:
+                    if data < 0 or data > 16:
+                        raise MyCobot320DataException(
+                            "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 16, but the received value is {}".format(
+                                parameter, address, data))
+                elif address == 41:
+                    if data < 0 or data > 100:
+                        raise MyCobot320DataException(
+                            "Error in parameter '{}': The range of 'value' for address={} is 0 ~ 100, but the received value is {}".format(
+                                parameter, address, data))
 
             elif parameter == "get_gripper_args":
                 gripper_id, address = value
@@ -880,7 +863,8 @@ def calibration_parameters(**kwargs):
                     raise MyCobot320DataException(
                         "The range of 'gripper_id' in {} is 1 ~ 254, but the received value is {}".format(parameter,
                                                                                                           gripper_id))
-                invalid_addresses = [5, 6, 10, 15, 16, 17, 18, 19, 20, 21, 23, 25, 29, 30, 31, 34, 35, 41, 43]
+                invalid_addresses = [3, 5, 6, 10, 11, 13, 15, 17, 19, 21, 23, 25, 27, 29, 30, 31, 32, 36, 37,
+                                     38, 39, 41, 43]
                 if address < 1 or address > 44:
                     raise MyCobot320DataException(
                         "The range of 'address' in {} is 1 ~ 44, but the received value is {}".format(parameter,
@@ -921,11 +905,14 @@ def calibration_parameters(**kwargs):
                         % value
                     )
             elif parameter == 'flag':
-                check_0_or_1(parameter, value, [0, 1, 254], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1, 254], value_type, MechArmDataException, int)
             elif parameter == 'gripper_type':
-                check_0_or_1(parameter, value, [1, 3, 4], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 3, 4, 5], value_type, MechArmDataException, int)
             elif parameter == '_type_1':
-                check_0_or_1(parameter, value, [1, 2, 3, 4], value_type, MechArmDataException, int)
+                if value is not None:
+                    check_0_or_1(parameter, value, [1, 2, 3, 4, 5], value_type, MechArmDataException, int)
                 # if value not in [0, 1, 10]:
                 #     raise exception_class("The data supported by parameter {} is 0 or 1 or 10, but the received value is {}".format(parameter, value))
             elif parameter == 'gripper_value':
@@ -1010,6 +997,9 @@ def calibration_parameters(**kwargs):
                                                                                          value))
             elif parameter == 'end_direction':
                 check_0_or_1(parameter, value, [1, 2, 3], value_type, MechArmDataException, int)
+            elif parameter == 'is_torque':
+                if value is not None:
+                    check_0_or_1(parameter, value, [0, 1], value_type, MyCobot280DataException, int)
     elif class_name in ["MyArm", "MyArmSocket"]:
         public_check(parameter_list, kwargs, robot_limit, class_name, MyArmDataException)
         for parameter in parameter_list[1:]:
@@ -1269,7 +1259,8 @@ def calibration_parameters(**kwargs):
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MyPalletizer260DataException, int)
                 if value < 1 or (value > 4 and value != 7):
-                    raise MyPalletizer260DataException("The range of id is 1 ~ 4 or 7, but the received is {}".format(value))
+                    raise MyPalletizer260DataException(
+                        "The range of id is 1 ~ 4 or 7, but the received is {}".format(value))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980

pymycobot/mecharm270.py

@@ -674,6 +674,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            1 - Force control
+            0 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mecharmsocket.py

@@ -689,6 +689,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            1 - Force control
+            0 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mycobot280.py

@@ -707,6 +707,61 @@ def set_vision_mode(self, flag):
         self.calibration_parameters(class_name=self.__class__.__name__, flag=flag)
         return self._mesg(ProtocolCode.SET_VISION_MODE, flag)
 
+    def is_torque_gripper(self):
+        """Whether it is a force-controlled gripper
+
+        Return:
+            40 - Force control
+            9 - Non-force control
+        """
+        return self.get_servo_data(7, 1)
+
+    def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
+        """Set gripper switch state
+
+        Args:
+            flag  (int): 0 - open, 1 - close, 254 - release
+            speed (int): 1 ~ 100
+            _type_1 (int): default 1
+                1 : Adaptive gripper. default to adaptive gripper
+                2 : 5 finger dexterous hand
+                3 : Parallel gripper, this parameter can be omitted
+                4 : Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1, is_torque=is_torque)
+        args = [flag, speed]
+        if _type_1 is not None:
+            args.append(_type_1)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_STATE, *args)
+
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=None):
+        """Set gripper value
+
+        Args:
+            gripper_value (int): 0 ~ 100
+            speed (int): 1 ~ 100
+            gripper_type (int): default 1
+                1: Adaptive gripper
+                3: Parallel gripper, this parameter can be omitted
+                4: Flexible gripper
+            is_torque (int): When there is no type parameter, this parameter can be omitted.
+                1: Force control
+                0: Non-force control
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+                                    gripper_type=gripper_type, is_torque=is_torque)
+        args = [gripper_value, speed]
+        if gripper_type is not None:
+            args.append(gripper_type)
+        if is_torque is not None:
+            args.append(is_torque)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, *args, has_reply=True)
+
     # Other
     def wait(self, t):
         time.sleep(t)