fix bug

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v3.2.7 (2023-11-7)
+
+- release v3.2.7
+- fix bug
+
 ## v3.2.5 (2023-11-3)
 
 - release v3.2.6

docs/myAGV_en.md

@@ -8,7 +8,6 @@
   - [get\_firmware\_version](#get_firmware_version)
   - [get\_motors\_current](#get_motors_current)
   - [get\_battery\_info](#get_battery_info)
-  - [move\_control(direction\_1, direction\_2, direction\_3)](#move_controldirection_1-direction_2-direction_3)
   - [go\_ahead(go\_speed)](#go_aheadgo_speed)
   - [retreat(back\_speed)](#retreatback_speed)
   - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed)
@@ -58,7 +57,7 @@ Read battery information
   `battery_1_voltage` : Battery 1 voltage in volts.
   `battery_2_voltage` : Battery 2 voltage in volts.
 
-## move_control(direction_1, direction_2, direction_3)
+<!-- ## move_control(direction_1, direction_2, direction_3)
 
 Control the car to rotate forward, backward, left, right and forward/counterclockwise.
 
@@ -68,7 +67,7 @@ Control the car to rotate forward, backward, left, right and forward/countercloc
 
   - **direction_2** – (int) control left and right movement: 0 ~ 127 is right, 129 ~ 255 is left, 128 is stop.
 
-  - **direction_3** – (int) control rotation: 0 ~ 127 is clockwise, 129 ~ 255 is counterclockwise, 128 is stop.
+  - **direction_3** – (int) control rotation: 0 ~ 127 is clockwise, 129 ~ 255 is counterclockwise, 128 is stop. -->
 
 ## go_ahead(go_speed)
 

docs/myAGV_zh.md

@@ -8,7 +8,6 @@
   - [get\_firmware\_version](#get_firmware_version)
   - [get\_motors\_current](#get_motors_current)
   - [get\_battery\_info](#get_battery_info)
-  - [move\_control(direction\_1, direction\_2, direction\_3)](#move_controldirection_1-direction_2-direction_3)
   - [go\_ahead(go\_speed)](#go_aheadgo_speed)
   - [retreat(back\_speed)](#retreatback_speed)
   - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed)
@@ -58,7 +57,7 @@
   `battery_1_voltage` : 电池1电压.
   `battery_2_voltage` : 电池2电压.
 
-## move_control(direction_1, direction_2, direction_3)
+<!-- ## move_control(direction_1, direction_2, direction_3)
 
 运动控制接口，控制小车前进、后退、平移、旋转.
 
@@ -68,7 +67,7 @@
 
   - **direction_2** – (int) 控制左右平移: 0 ~ 127 表示向右平移, 129 ~ 255 表示向左平移, 128 表示停止.
 
-  - **direction_3** – (int) 控制旋转: 0 ~ 127 表示顺时针旋转, 129 ~ 255 表示逆时针旋转, 128 表示停止.
+  - **direction_3** – (int) 控制旋转: 0 ~ 127 表示顺时针旋转, 129 ~ 255 表示逆时针旋转, 128 表示停止. -->
 
 ## go_ahead(go_speed)
 

pymycobot/__init__.py

@@ -52,7 +52,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.2.6"
+__version__ = "3.2.7"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/generate.py

@@ -728,7 +728,7 @@ def  set_gripper_state(self, flag, speed, _type=None):
             return self._mesg(ProtocolCode.SET_GRIPPER_STATE, flag, speed, _type)
 
 
-    def set_gripper_value(self, gripper_value, speed, gripper_type):
+    def set_gripper_value(self, gripper_value, speed, gripper_type=None):
         """Set gripper value
 
         Args:
@@ -738,8 +738,12 @@ def set_gripper_value(self, gripper_value, speed, gripper_type):
                 1 - Adaptive gripper\n
                 3 - Parallel gripper, this parameter can be omitted, default to adaptive gripper
         """
-        self.calibration_parameters(class_name = self.__class__.__name__, gripper_value=gripper_value, speed=speed, gripper_type=gripper_type)
-        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, gripper_value, speed, gripper_type)
+        if gripper_type is not None:
+            self.calibration_parameters(class_name = self.__class__.__name__, gripper_value=gripper_value, speed=speed, gripper_type=gripper_type)
+            return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, gripper_value, speed, gripper_type)
+        else:
+            return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, gripper_value, speed)
+            
 
     def set_gripper_calibration(self):
         """Set the current position to zero, set current position value is `2048`."""

pymycobot/myagv.py

@@ -191,16 +191,16 @@ def get_battery_info(self):
         """
         return self._mesg(ProtocolCode.GET_BATTERY_INFO.value, has_reply = True)
 
-    def move_control(self, direction_1, direction_2, direction_3):
-        """Control the car to rotate forward, backward, left, right and forward/counterclockwise
+    # def move_control(self, direction_1, direction_2, direction_3):
+    #     """Control the car to rotate forward, backward, left, right and forward/counterclockwise
 
-        Args:
-            direction_1 (int): Control forward or backward: 0 ~ 127 is backward, 129 ~ 255 is forward, 128 is stop.
-            direction_2 (int): control left and right movement: 0 ~ 127 is right, 129 ~ 255 is left, 128 is stop.
-            direction_3 (int): control rotation: 0 ~ 127 is clockwise, 129 ~ 255 is counterclockwise, 128 is stop.
-        """
-        calibration_parameters(class_name = self.__class__.__name__, direction_1=direction_1, direction_2=direction_2,direction_3=direction_3)
-        return self._mesg(direction_1, direction_2, direction_3)
+    #     Args:
+    #         direction_1 (int): Control forward or backward: 0 ~ 127 is backward, 129 ~ 255 is forward, 128 is stop.
+    #         direction_2 (int): control left and right movement: 0 ~ 127 is right, 129 ~ 255 is left, 128 is stop.
+    #         direction_3 (int): control rotation: 0 ~ 127 is clockwise, 129 ~ 255 is counterclockwise, 128 is stop.
+    #     """
+    #     calibration_parameters(class_name = self.__class__.__name__, direction_1=direction_1, direction_2=direction_2,direction_3=direction_3)
+    #     return self._mesg(direction_1, direction_2, direction_3)
 
     def go_ahead(self, go_speed, timeout=5):
         """Control the car to move forward. Send control commands every 100ms. with a default motion time of 5 seconds.