chro: update test file. make alone CHANGELOG

Author: zlj-zz

.gitignore

@@ -6,4 +6,7 @@ log
 .vscode/
 pymycobot/__pycache__/
 
-test.py
+test.py
+port.txt
+record.txt
+test_test.py

CHANGELOG.md

@@ -0,0 +1,48 @@
+# 2021.3.12
+
+added more test file.
+
+# 2021.2.5
+
+relase v2.2.0
+
+- add new method for girpper and IO.
+
+# 2021.1.25
+
+release v2.1.2
+
+- refactor pymycobot
+- add Error class
+
+# 2021.1.20
+
+`v1.0.6` fix get_coords() error.
+
+relase v2.0.0
+
+# 2021.1.16
+
+Upload to server, can use `pip` to installation now.
+
+# 2021.1.9
+
+Fix the API problem that `is_moving()` and other methods of mycobot cannot be used.
+
+# 2021.1.8
+
+Python API add new methods:
+
+- `jog_angle()`
+- `jog_coord()`
+- `jog_stop()`
+
+# 2020.12.30
+
+Adding usage documents to Python API.
+
+# 2020.12.29
+
+Python API supports python2.7
+
+Modify the serial port to manual setting, support the use of window.

setup.py

@@ -40,49 +40,3 @@
     python_requires= '>=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*',
 )
 
-change_log = '''
-# 2021.2.5
-
-relase v2.2.0
-    - add new method for girpper and IO.
-
-# 2021.1.25
-
-release v2.1.2
-    - refactor pymycobot
-    - add Error class
-
-# 2021.1.20
-
-`v1.0.6` fix get_coords() error.
-
-relase v2.0.0
-
-# 2021.1.16
-
-Upload to server, can use `pip` to installation now.
-
-# 2021.1.9
-
-Fix the API problem that `is_moving()` and other methods of mycobot cannot be used.
-
-# 2021.1.8
-
-Python API add new methods:
-
-- `jog_angle()`
-- `jog_coord()`
-- `jog_stop()`
-
-# 2020.12.30
-
-Adding usage documents to Python API.
-
-# 2020.12.29
-
-Python API supports python2.7
-
-Modify the serial port to manual setting, support the use of window.
-
-'''
-

tests/basic_test.py

@@ -56,7 +56,7 @@ def test(mycobot):
 
 if __name__ == '__main__':
     print('''
-————————————————————————————————————————————
+--------------------------------------------
 | This file will test basic option method: |
 |     set_led_color()                      |
 |     send_angles()                        |
@@ -68,12 +68,14 @@ def test(mycobot):
 |     get_coords()                         |
 |     send_coord()                         |
 |     set_free_mode()                      |
-————————————————————————————————————————————
+--------------------------------------------
           ''')
     time.sleep(3)
     # port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
                                     # shell=True).decode()
-    port = "/dev/cu.usbserial-0203B030"
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
     # mycobot = MyCobot(port, debug=True)
     mycobot = MyCobot(port)
     test(mycobot)

tests/get_port.py

@@ -12,5 +12,13 @@
     port='/dev/cu.usbserial-0213245D'
     '''
     plist = list(serial.tools.list_ports.comports())
+    idx = 1
     for port in plist:
-        print(port)
+        print('{} : {}'.format(idx, port))
+        idx += 1
+
+    _in = input('\nPlease input 1 - {} to choice:'.format(idx - 1))
+    port = str(plist[int(_in) - 1]).split('-')[0].strip()
+    print(port)
+    with open('./port.txt', 'w') as f:
+        f.write(port + '\n')

tests/jog_test.py

@@ -0,0 +1,60 @@
+import time
+from pymycobot.mycobot import MyCobot
+from pymycobot.genre import Angle, Coord
+
+reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62]
+zero = [0, 0, 0, 0, 0, 0]
+sp = 100
+
+
+def test(mc):
+    print('Start check jog api\n')
+
+    mc.send_angles(zero, sp)
+    time.sleep(5)
+
+    print('jog_angle() -> control joint1')
+    mc.jog_angle(Angle.J1.value, 1, 10)
+    time.sleep(3)
+    print('pause 10 s')
+    mc.pause()
+    time.sleep(3)
+    print('speed get', mc.get_speed())
+    mc.set_speed(20)
+    print('speed set', mc.get_speed())
+    time.sleep(7)
+    print('resume')
+    mc.resume()
+    time.sleep(10)
+
+    coords = [160, 140, 160, 0, 0, 0]
+    mc.send_coords(coords, 100, 0)
+    time.sleep(4)
+
+    mc.jog_coord(Coord.Z.value, 1, 10)
+    time.sleep(3)
+    print('stop')
+
+    print('=== check end ===\n')
+
+
+if __name__ == '__main__':
+    print('''
+--------------------------------------------
+| This file will test jog method:          |
+|     jog_angle()                          |
+|     jog_coord()                          |
+|     pause()                              |
+|     resume()                             |
+|     stop()                               |
+|     get_speed()                          |
+|     set_speed()                          |
+--------------------------------------------
+          ''')
+    time.sleep(3)
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
+    mc = MyCobot(port)
+
+    test(mc)

tests/limit_test.py

@@ -0,0 +1,51 @@
+import time
+from pymycobot.mycobot import MyCobot
+
+
+reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62]
+zero = [0,0,0,0,0,0]
+sp = 100
+
+def test(mc):
+    print('Start check limit api\n')
+
+    print('get joint min angle value:')
+    print(mc.get_joint_min_angle(1))
+    print(mc.get_joint_min_angle(2))
+    print(mc.get_joint_min_angle(3))
+    print(mc.get_joint_min_angle(4))
+    print(mc.get_joint_min_angle(5))
+    print(mc.get_joint_min_angle(6))
+
+
+    print('get joint max angle value:')
+    print(mc.get_joint_max_angle(1))
+    print(mc.get_joint_max_angle(2))
+    print(mc.get_joint_max_angle(3))
+    print(mc.get_joint_max_angle(4))
+    print(mc.get_joint_max_angle(5))
+    print(mc.get_joint_max_angle(6))
+
+
+    mc.send_angles(reset, 100)
+    time.sleep(5)
+    mc.set_free_mode()
+
+    print('=== check end ===\n')
+
+
+if __name__ == '__main__':
+    print('''
+--------------------------------------------
+| This file will test limit method:        |
+|     get_joint_min_angle()                |
+|     get_joint_max_angle()                |
+--------------------------------------------
+          ''')
+    time.sleep(3)
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
+    mc = MyCobot(port)
+
+    test(mc)

tests/loop_test.py

@@ -1,12 +1,11 @@
-import time, subprocess
+import time
 from pymycobot.mycobot import MyCobot
 
 
 if __name__ == '__main__':
-    # port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    # shell=True).decode()
-    # port = "/dev/cu.usbserial-0203B030"
-    port = "/dev/cu.usbserial-0213245D"
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
     cobot = MyCobot(port)
     cobot.send_angles([0,0,0,0,0,0],100)
     time.sleep(10)

tests/power_state_test.py

@@ -1,6 +1,5 @@
-import time, random, subprocess
+import time
 from pymycobot.mycobot import MyCobot
-from pymycobot.genre import Angle, Coord
 
 
 reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62]
@@ -41,20 +40,19 @@ def test(mc):
     print('=== check end ===\n')
 
 
-
-
-
 if __name__ == '__main__':
     print('''
-————————————————————————————————————————————
+--------------------------------------------
 | This file will test power state method:  |
 |     power_off()                          |
 |     power_on()                           |
 |     is_power_on()                        |
-————————————————————————————————————————————
+--------------------------------------------
           ''')
     time.sleep(3)
-    port = "/dev/cu.usbserial-0203B030"
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
     mc = MyCobot(port)
     test(mc)
 

tests/state_test.py

@@ -0,0 +1,66 @@
+import time
+from pymycobot.mycobot import MyCobot
+
+
+reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62]
+zero = [0,0,0,0,0,0]
+coords = [160, 160, 160, 0, 0, 0]
+sp = 100
+
+def test(mc):
+    print('Start check state api\n')
+
+    print('goto zero position')
+    mc.send_angles(zero, sp)
+    time.sleep(4)
+    print('is in position(angle): 1 - true, 0 - false, -1 - error data')
+    for _ in range(10):
+        print(mc.is_in_position(zero, 0), ' ', end='')
+        time.sleep(.5)
+
+    print('\nis in position(coords): 1 - true, 0 - false, -1 - error data')
+    for _ in range(10):
+        print(mc.is_in_position(coords, 1), ' ', end='')
+        time.sleep(.5)
+
+    mc.send_coords(coords, 100, 0)
+    time.sleep(4)
+    print('\nis in position(coords): 1 - true, 0 - false, -1 - error data')
+    for _ in range(10):
+        print(mc.is_in_position(coords, 1), ' ', end='')
+        time.sleep(.5)
+
+
+    mc.send_angles(zero, 100)
+    time.sleep(4)
+    print('is moving: 1 - true, 0 - false')
+    print(mc.is_moving())
+    time.sleep(3)
+    print('is moving: 1 - true, 0 - false')
+    print(mc.is_moving())
+    time.sleep(1)
+    mc.jog_angle(1, 1, 35)
+
+    t = time.time()
+    print('is moving: 1 - true, 0 - false')
+    while time.time() - t < 20:
+        print(mc.is_moving())
+        time.sleep(.5)
+
+
+
+if __name__ == '__main__':
+    print('''
+--------------------------------------------
+| This file will test state method:        |
+|     is_in_position()                     |
+|     is_moving()                          |
+--------------------------------------------
+          ''')
+    time.sleep(3)
+    with open('./port.txt') as f:
+        port = f.read().strip().replace('\n', '')
+        print(port)
+    mc = MyCobot(port)
+    test(mc)
+