Merge pull request #123 from Mrkun5018/mercury_close_loop

Mercury add api set/get_fusion_parameters

Author: anla-xu

pymycobot/common.py

@@ -96,6 +96,8 @@ class ProtocolCode(object):
     JOG_INCREMENT_BASE_COORD = 0x37
     InitGripper = 0x38
     SetGripperProtectCurrent = 0x39
+    GET_FUSION_PARAMETERS = 0x4e
+    SET_FUSION_PARAMETERS = 0x4f
 
     # Overall status
     POWER_ON = 0x10

pymycobot/error.py

@@ -384,7 +384,7 @@ def calibration_parameters(**kwargs):
                 if value not in [0,1,2]:
                     raise MercuryDataException("The parameter {} only supports 0 or 1 or 2, but received {}".format(parameter, value))
             elif parameter == "move_type":
-                if value not in [0,2]:
+                if value not in [0, 1, 2, 3]:
                     raise MercuryDataException("The parameter {} only supports 0 or 2, but received {}".format(parameter, value))
             elif parameter == "trajectory":
                 if value not in [0,1,2,3,4]: