update

Author: anla-xu

pymycobot/__init__.py

@@ -52,7 +52,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.2.0"
+__version__ = "3.2.1"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/cobotx.py

@@ -123,7 +123,7 @@ def _mesg(self, genre, *args, **kwargs):
                             if res[i] == 1:
                                 r.append(i)
                 return r
-            elif genre == ProtocolCode.COBOTX_GET_ANGLE:
+            elif genre in [ProtocolCode.COBOTX_GET_ANGLE, ProtocolCode.GET_SOLUTION_ANGLES]:
                     return self._int2angle(res[0])
             else:
                 return res
@@ -256,7 +256,7 @@ def sync_send_angles(self, degrees, speed, timeout=15):
             time.sleep(0.1)
         return self
 
-    def sync_send_coords(self, coords, speed, mode=0, timeout=15):
+    def sync_send_coords(self, coords, speed, mode=None, timeout=15):
         """Send the coord in synchronous state and return when the target point is reached
             
         Args:

pymycobot/error.py

@@ -159,8 +159,8 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
                     raise exception_class("The range of encoder is 0 ~ 4096, but the received value is {}".format(data))
         elif parameter == 'speeds':
             if  "MyCobot" in class_name or "MechArm" in class_name:
-                if len(value) != 6:
-                    raise exception_class("The length of `speeds` must be 6.")
+                if len(value) not in [6, 7]:
+                    raise exception_class("The length of `speeds` must be 6. but the received value is {}".format(value))
             elif "MyPalletizer" in class_name:
                 if len(value) != 4:
                     raise exception_class("The length of `speeds` must be 4.")

pymycobot/myagv.py

@@ -10,6 +10,7 @@
 
 class ProtocolCode(enum.Enum):
     HEADER = 0xFE
+    RESTORE = [0x01, 0x00]
     SET_LED = [0x01, 0x02]
     GET_FIRMWARE_VERSION = [0x01, 0x03]
     GET_MOTORS_CURRENT = [0x01, 0x04]
@@ -39,6 +40,8 @@ def _read(self, command):
         pre = 0
         end = 5
         t = time.time()
+        if command[k-1] == 29:
+            end = 29
         while time.time() - t < 0.2:
             data = self._serial_port.read()
             k += 1
@@ -60,7 +63,7 @@ def _read(self, command):
             elif len(datas) >= 2:
                 data_len = struct.unpack("b", data)[0]
                 # print("``````:",datas, command, k, data_len)
-                if data_len == command[k-1]:
+                if data_len == command[k-1] or command[k-1] == 29:
                     datas += data
                 else:
                     datas = b''
@@ -251,4 +254,26 @@ def stop(self):
         """stop motion
         """
         self._mesg(128, 128, 128)
+        
+    def get_muc_info(self):
+        """"""
+        datas = self._read([0xfe, 0xfe, 29])
+        res = []
+        for index in range(2, len(datas)):
+            if index < 5:
+                res.append(datas[index])
+            elif index < 17 or index >= 20:
+                res.append(self._decode_int16(datas[index:index+2]))
+            elif index == 17:
+                byte_1 = bin(datas[index])
+                while len(byte_1) != 6:
+                        byte_1 = "0"+byte_1
+                res.append(byte_1)
+            elif index < 20:
+                res.append(self._int2coord(datas[index]))
+        return res
+    
+    def restore(self):
+        """"""
+        self._mesg(ProtocolCode.RESTORE.value, 1)
 

pymycobot/mybuddy.py

@@ -396,3 +396,37 @@ def open(self):
 
     def is_open(self):
         return self._serial_port.is_open
+    
+    def sync_send_angles(self, id, degrees, speed, timeout=15):
+        """Send the angle in synchronous state and return when the target point is reached
+            
+        Args:
+            degrees: a list of degree values(List[float]), length 6.
+            speed: (int) 0 ~ 100
+            timeout: default 7s.
+        """
+        t = time.time()
+        self.send_angles(id, degrees, speed)
+        while time.time() - t < timeout:
+            f = self.is_in_position(id, degrees, 0)
+            if f == 1:
+                break
+            time.sleep(0.1)
+        return self
+
+    def sync_send_coords(self, id, coords, speed, mode=0, timeout=15):
+        """Send the coord in synchronous state and return when the target point is reached
+            
+        Args:
+            coords: a list of coord values(List[float])
+            speed: (int) 0 ~ 100
+            mode: (int): 0 - angular（default）, 1 - linear
+            timeout: default 7s.
+        """
+        t = time.time()
+        self.send_coords(id, coords, speed, mode)
+        while time.time() - t < timeout:
+            if self.is_in_position(id, coords, 1) == 1:
+                break
+            time.sleep(0.1)
+        return self

pymycobot/mybuddyemoticon.py

@@ -7,7 +7,7 @@
 
 
 class MyBuddyEmoticon:
-    def __init__(self, file_path, window_size, loop=False):
+    def __init__(self, file_path, window_size=None, loop=False):
         """API for playing emoticons
 
         Args:

pymycobot/mybuddysocket.py

@@ -207,3 +207,37 @@ def wait(self, t):
 
     def close(self):
         self.sock.close()
+        
+    def sync_send_angles(self, id, degrees, speed, timeout=15):
+        """Send the angle in synchronous state and return when the target point is reached
+            
+        Args:
+            degrees: a list of degree values(List[float]), length 6.
+            speed: (int) 0 ~ 100
+            timeout: default 7s.
+        """
+        t = time.time()
+        self.send_angles(id, degrees, speed)
+        while time.time() - t < timeout:
+            f = self.is_in_position(id, degrees, 0)
+            if f == 1:
+                break
+            time.sleep(0.1)
+        return self
+
+    def sync_send_coords(self, id, coords, speed, mode=0, timeout=15):
+        """Send the coord in synchronous state and return when the target point is reached
+            
+        Args:
+            coords: a list of coord values(List[float])
+            speed: (int) 0 ~ 100
+            mode: (int): 0 - angular（default）, 1 - linear
+            timeout: default 7s.
+        """
+        t = time.time()
+        self.send_coords(id, coords, speed, mode)
+        while time.time() - t < timeout:
+            if self.is_in_position(id, coords, 1) == 1:
+                break
+            time.sleep(0.1)
+        return self

pymycobot/robot_limit.json

@@ -15,15 +15,15 @@
     },
     "MyCobot":{
         "id":[1,2,3,4,5,6],
-        "angles_min":[-170, -135, -150, -130, -170, -180],
-        "angles_max":[170, 135, 150, 135, 170, 180],
+        "angles_min":[-170, -135, -150, -145, -170, -180],
+        "angles_max":[170, 140, 150, 135, 170, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },
     "MyCobotSocket":{
         "id":[1,2,3,4,5,6],
-        "angles_min":[-165, -135, -150, -130, -170, -180],
-        "angles_max":[165, 135, 150, 130, 170, 180],
+        "angles_min":[-170, -135, -150, -145, -170, -180],
+        "angles_max":[170, 140, 150, 135, 170, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },