Merge branch 'main' of github.com:elephantrobotics/pymycobot into mycobot_280_refactor

Author: wangWking

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.6.5 (2024-10-25)
+
+- release v3.6.5
+- Added 280 set_encoders_drag interface
+
 ## v3.6.4 (2024-10-22)
 
 - release v3.6.4

pymycobot/__init__.py

@@ -85,7 +85,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.6.4" 
+__version__ = "3.6.5" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/generate.py

@@ -343,6 +343,16 @@ def get_encoders(self):
         """
         return self._mesg(ProtocolCode.GET_ENCODERS, has_reply=True)
 
+    def set_encoders_drag(self, encoders, speeds):  # TODO 22-5-19 need test
+        """Send all encoders and speeds
+
+        Args:
+            encoders: encoders list.
+            speeds: Obtained by the get_servo_speeds() method
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, encoders=encoders, speeds=speeds)
+        return self._mesg(ProtocolCode.SET_ENCODERS_DRAG, encoders, speeds)
+
     # Running status and Settings
 
     def get_joint_min_angle(self, joint_id):