v2.0.0

Author: zlj-zz

README.md

@@ -4,12 +4,27 @@ If you want to install it separately.
 
 ## Installation
 
+**Notes**:
+
+<!-- This is the mycobot Python API package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
+
+> Make sure that `Atom` is flashed into the top Atom <br> > `Transponder` is flashed into the base Basic <br>
+> The firmware `Atom` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
+
 ### Pip
 
 ```bash
 pip install pymycobot --upgrade
 ```
 
+**Notes:**
+
+> Now only the version after `Atom2.4` is supported. If you use an earlier version, please install `pymycobot 1.0.6`.
+
+```bash
+pip install pymycobot==1.0.6
+```
+
 ### Source code
 
 ```bash
@@ -26,12 +41,3 @@ python3 setup.py install
 ## Usage:
 
 Please go to [here](./pymycobot/README.md).
-
-**Notes**:
-
-<!-- This is the mycobot Python API package designed by Zhang Lijun([lijun.zhang@elephantrobotics.com]()) -->
-
-> Make sure that `Atom2.3` is flashed into the top Atom <br> > `Transponder` is flashed into the base Basic <br>
-> The firmware `Atom2.3` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)<br>
-> Python 2: use mycobot.py <br>
-> Python 3: use mycobot3.py

pymycobot/README.md

@@ -1,14 +1,16 @@
-# ros-python-api
+# pymycobot
 
 **This is python API for mycobot.**
 
-We support Python2, Python3.5 or later. If you want to use the api, make sure `pyserial` is installed.
+We support Python2, Python3.5 or later.
 
-```bash
-pip2 install pyserial
-# or
-pip3 install pyserial
-```
+<!--If you want to use the api, make sure `pyserial` is installed.-->
+
+<!--```bash-->
+<!--pip2 install pyserial-->
+<!--# or-->
+<!--pip3 install pyserial-->
+<!--```-->
 
 **Class**:
 

pymycobot/__init__.py

@@ -6,8 +6,5 @@
 
 version = (platform.python_version())
 
-if version.startswith('2.7'):
-    __all__ = ['mycobot', 'common']
-else:
-    __all__ = ['mycobot', 'mycobot3', 'common']
+__all__ = ['mycobot', 'common']
 

pymycobot/mycobot.py

@@ -100,7 +100,6 @@ def send_angle(self, id, degree, speed):
         _hex = self._angle_to_hex(degree)
         speed = self._complement_zero(hex(speed)[2:], digit=2)
         command = 'fefe0621{}{}{}fa'.format(id, _hex, speed)
-        # print(command)  
         self._write(command)
 
     def send_angles(self, degrees, speed):
@@ -138,12 +137,9 @@ def send_angles_by_radian(self, radians, speed):
         command = 'fefe0f22'
         speed = self._complement_zero(hex(speed)[2:], digit=2)
         for radian in radians:
-            # print(radian)
             _hex = self._angle_to_hex(radian, is_degree=False)
-            # print(_hex)
             command += _hex
         command += '{}fa'.format(speed)
-        # print(command)
         self._write(command)
 
     def get_coords(self):
@@ -167,7 +163,7 @@ def send_coord(self, id, coord, speed):
 
         Args:
             id(common.Coord):
-            coord(fload):
+            coord(fload): mm
             speed(int):
 
         '''
@@ -183,7 +179,7 @@ def send_coords(self, coords, speed, mode):
         '''Send all coords
 
         Args:
-            coords: [x, y, z, rx, ry, rz]
+            coords: [x(mm), y, z, rx(angle), ry, rz]
             speed(int);
             mode(int): 0 - angluar, 1 - linear
 
@@ -195,9 +191,11 @@ def send_coords(self, coords, speed, mode):
         speed = hex(speed)[2:]
         speed = self._complement_zero(speed, digit=2)
         mode = self._complement_zero(hex(mode)[2:], digit=2)
-        for coord in coords:
-            _hex = self._coord_to_hex(coord)
-
+        for i in range(3):
+            _hex = self._coord_to_hex(coords[i])
+            command += (_hex)
+        for i in range(3, 6):
+            _hex = self._angle_to_hex(coords[i])
             command += (_hex)
 
         command += '{}{}fa'.format(speed, mode)
@@ -328,8 +326,9 @@ def _parse_data(self, data, name):
             data = data[-26:-2]
             for i in range(6):
                 _hex = data[i * 4: (i * 4) + 4]
-                degree = self._hex_to_degree(_hex)
-                data_list.append(degree)
+                _degree = self._hex_to_int(_hex) / 100.0
+                # degree = self._hex_to_degree(_hex)
+                data_list.append(_degree)
 
         elif name == 'get_coords':
             if not (data.startswith('23') and data.endswith('fa')):
@@ -341,7 +340,7 @@ def _parse_data(self, data, name):
                 data_list.append(_coord)
             for i in range(3, 6):
                 _hex = data[i * 4: (i * 4) + 4]
-                _coord = self._hex_to_int(_hex) / 1000.0
+                _coord = self._hex_to_int(_hex) / 100.0
                 data_list.append(_coord)
 
         elif name == 'get_angles_of_radian':
@@ -350,8 +349,9 @@ def _parse_data(self, data, name):
             data = data[-26:-2]
             for i in range(6):
                 _hex = data[i * 4: (i * 4) + 4]
-                _radian = self._hex_to_int(_hex) / 1000.0
-                data_list.append(_radian)
+                _degree = self._hex_to_int(_hex) / 100.0
+                _radian = _degree * (3.14 / 180)
+                data_list.append(round(_radian, 2))
 
         return (data_list)
 
@@ -367,14 +367,14 @@ def _hex_to_int(self, _hex):
 
     def _angle_to_hex(self, _degree, is_degree=True):
         if is_degree:
-            radian = (_degree * (3140 / 180))
+            da = (_degree * 100)
         else:
-            radian = _degree * 1000
-        radian = int(radian)
-        if radian < 0:
-            radian += 0x10000
-        radian = round(radian)
-        s = str(hex(int(radian)))[2:] 
+            da = _degree * (180 / 3.14) * 100
+        da = int(da)
+        if da < 0:
+            da += 0x10000
+        da = round(da)
+        s = str(hex(int(da)))[2:]
         s = self._complement_zero(s)
         return  s