Merge pull request #125 from Mrkun5018/mercury_close_loop

Added set_movement_type CP mode

Author: anla-xu

pymycobot/error.py

@@ -384,8 +384,8 @@ 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, 1, 2, 3]:
-                    raise MercuryDataException("The parameter {} only supports 0 or 2, but received {}".format(parameter, value))
+                if value not in [0, 1, 2, 3, 4]:
+                    raise MercuryDataException("The parameter {} only supports 0 or 4, but received {}".format(parameter, value))
             elif parameter == "trajectory":
                 if value not in [0,1,2,3,4]:
                     raise MercuryDataException("The parameter {} only supports [0,1,2,3,4], but received {}".format(parameter, value))

pymycobot/mercury_api.py

@@ -2030,7 +2030,7 @@ def set_movement_type(self, move_type):
         """Set movement type
         
         Args:
-            move_type: 0 - moveJ, 1 - moveL, 2 - moveF, 3 - moveS
+            move_type: 0 - moveJ, 1 - moveL, 2 - moveF, 3 - moveS, 4 - CP
         """
         self.calibration_parameters(class_name=self.__class__.__name__, move_type=move_type)
         return self._mesg(ProtocolCode.SET_MOVEMENT_TYPE, move_type)