fix bug

Author: anla-xu

CHANGELOG.md

@@ -1,6 +1,11 @@
 # ChangeLog for pymycobot
 
-## v3.3.4 (2023-12-121)
+## v3.3.5 (2023-12-29)
+
+- release v3.3.5
+- fix bug
+
+## v3.3.4 (2023-12-21)
 
 - release v3.3.4
 - fix bug

docs/Mercury_API.md

@@ -0,0 +1,59 @@
+### power_on()
+控制机器人上电
+
+### power_off()
+控制机器人下电
+
+### get_angles()
+获取机器人全关节角度信息
+
+* **返回**
+  长度为6的列表
+
+### get_angle(joint_id)
+获取机器人单个关节的角度信息
+
+* **参数**
+
+    **joint_id** – 关节ID号。
+
+* **返回**
+  指定关节的角度信息
+
+### send_angles(angles, speed)
+控制机器人全角度运动
+
+* **参数**
+
+    **angles** – 长度为6的列表。
+    **speed** – 机器人运动的速度。
+
+### get_coords()
+获取机器人的坐标位置
+
+* **返回**
+  长度为6的列表，[x, y, z, rx, ry, rz]
+
+### send_coords(coords, speed)
+控制机器人坐标运动
+
+* **参数**
+
+    **coords** – 长度为6的列表。
+    **speed** – 机器人运动的速度。
+<!-- 
+#### 未完待续...
+
+## 案例
+
+```python
+from pymycobot import Mercury
+import time
+mc = Mercury("/dev/ttyAMA1", 115200)
+
+print(mc.get_angles())
+
+mc.send_angles([0, 0, 0, 0, 90, 0, 0], 40)
+time.sleep(5)
+mc.send_coords([100, 0, 300, 0, 0, 0], 40)
+``` -->

pymycobot/__init__.py

@@ -54,7 +54,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.3.4"
+__version__ = "3.3.5"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/myagv.py

@@ -322,4 +322,12 @@ def get_mcu_info(self):
     def restore(self):
         """Motor stall recovery"""
         self._mesg(ProtocolCode.RESTORE.value, 1)
-    
+    
+    # def get_battery_voltage(self, num=1):
+    #     """Get battery voltage
+
+    #     Args:
+    #         num (int, optional): Battery ID number. Defaults to 1.
+    #     """
+    #     mcu_data = self.get_mcu_info()
+    #     return self._mesg(ProtocolCode.GET_BATTERY_INFO.value, has_reply = True)

pymycobot/robot_limit.json

@@ -15,15 +15,15 @@
     },
     "MyCobot":{
         "id":[1,2,3,4,5,6, 7],
-        "angles_min":[-170, -135, -150, -145, -170, -180],
-        "angles_max":[170, 140, 150, 135, 170, 180],
+        "angles_min":[-168, -135, -150, -145, -165, -180],
+        "angles_max":[168, 135, 150, 145, 165, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },
     "MyCobotSocket":{
         "id":[1,2,3,4,5,6, 7],
-        "angles_min":[-170, -135, -150, -145, -170, -180],
-        "angles_max":[170, 140, 150, 135, 170, 180],
+        "angles_min":[-168, -135, -150, -145, -165, -180],
+        "angles_max":[168, 135, 150, 145, 165, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },

pymycobot/ultraArm.py

@@ -122,16 +122,24 @@ def _request(self, flag=""):
                             qsize = int(q[qstart + 1 : qend])
                             return qsize
                     except Exception as e:
-                        print(e)
                         count += 1
                         continue
                 elif flag == 'isStop':
                     if "Moving end" in data:
                         return 1
                     else:
                         return 0
-                elif flag in ['gripper', 'system']:
-                    return int(data[data.find("[")+1:-1])
+                elif flag == 'gripper':
+                    header = "GRIPPERANGLE["
+                    read = data.find(header)+len(header)
+                    # print(data[read:])
+                    end = data[read:].find(']')
+                    return data[read:read+end]
+                elif flag == 'system':
+                    header = "ReadSYS["
+                    read = data.find(header)+len(header)
+                    end = data[read:].find(']')
+                    return data[read:read+end]
                 elif flag == None:
                     return 0