release v3.6.4

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.6.4 (2024-10-22)
+
+- release v3.6.4
+- Fix set_encoder function BUG
+
 ## v3.6.3 (2024-10-17)
 
 - release v3.6.3

pymycobot/__init__.py

@@ -85,7 +85,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.6.3" 
+__version__ = "3.6.4" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/error.py

@@ -239,8 +239,8 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
         elif parameter in ['servo_id_pdi', 'encode_id']:
             check_value_type(parameter, value_type, exception_class, int)
             if "MyCobot" in class_name or "MechArm" in class_name:
-                if value < 1 or value > 6:
-                    raise exception_class("The range of id is 1 ~ 6, but the received is {}".format(value))
+                if value < 1 or value > 7:
+                    raise exception_class("The range of id is 1 ~ 6 or 7, but the received is {}".format(value))
             if class_name in ["MyPalletizer", "MyPalletizer260"]:
                 if value < 1 or value > 4:
                     raise exception_class("The range of id is 1 ~ 4, but the received is {}".format(value))
@@ -619,8 +619,8 @@ def calibration_parameters(**kwargs):
                             "The range of speed is 0 ~ 3400, but the received value is {}".format(data))
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MyCobot280DataException, int)
-                if value < 1 or value > 6:
-                    raise MyCobot280DataException("The range of id is 1 ~ 6, but the received is {}".format(value))
+                if value < 1 or value > 7:
+                    raise MyCobot280DataException("The range of id is 1 ~ 6 or 7, but the received is {}".format(value))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980
@@ -737,8 +737,8 @@ def calibration_parameters(**kwargs):
                             "The range of speed is 0 ~ 3400, but the received value is {}".format(data))
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MyCobot320DataException, int)
-                if value < 1 or value > 6:
-                    raise MyCobot320DataException("The range of id is 1 ~ 6, but the received is {}".format(value))
+                if value < 1 or value > 7:
+                    raise MyCobot320DataException("The range of id is 1 ~ 6 or 7, but the received is {}".format(value))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980
@@ -971,8 +971,8 @@ def calibration_parameters(**kwargs):
                             "The range of speed is 0 ~ 3400, but the received value is {}".format(data))
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MechArmDataException, int)
-                if value < 1 or value > 6:
-                    raise MechArmDataException("The range of id is 1 ~ 6, but the received is {}".format(value))
+                if value < 1 or value > 7:
+                    raise MechArmDataException("The range of id is 1 ~ 6 or 7, but the received is {}".format(value))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980
@@ -1103,8 +1103,8 @@ def calibration_parameters(**kwargs):
                             "The range of speed is 0 ~ 3400, but the received value is {}".format(data))
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MyArmDataException, int)
-                if value < 1 or value > 7:
-                    raise MyArmDataException("The range of id is 1 ~ 7, but the received is {}".format(value))
+                if value < 1 or value > 8:
+                    raise MyArmDataException("The range of id is 1 ~ 7 or 8, but the received is {}".format(value))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980
@@ -1246,8 +1246,8 @@ def calibration_parameters(**kwargs):
                             "The range of speed is 0 ~ 3400, but the received value is {}".format(data))
             elif parameter in ['servo_id_pdi', 'encode_id']:
                 check_value_type(parameter, value_type, MyPalletizer260DataException, int)
-                if value < 1 or value > 4:
-                    raise MyPalletizer260DataException("The range of id is 1 ~ 4, but the received is {}".format(value))
+                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))
             elif parameter == "torque":
                 torque_min = 150
                 torque_max = 980