release v2.5.7

Author: zlj-zz

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot.
 
+## v2.5.7 (2021-08-05)
+
+- release v2.5.7
+- fix error. [#19](https://github.com/elephantrobotics/pymycobot/issues/19) [#20](https://github.com/elephantrobotics/pymycobot/issues/20)
+
 ## v2.5.6 (2021-07-30)
 
 - release v2.5.6

pymycobot/__init__.py

@@ -1,14 +1,12 @@
 from __future__ import absolute_import
-import os
 
-if os.environ.get("_MYCOBOT_VERSION_ONLY") != "1":
-    from pymycobot.mycobot import MyCobot
-    from pymycobot.generate import MycobotCommandGenerater
-    from pymycobot.genre import Angle, Coord
+from pymycobot.mycobot import MyCobot
+from pymycobot.generate import MycobotCommandGenerater
+from pymycobot.genre import Angle, Coord
 
-    __all__ = ["MyCobot", "MycobotCommandGenerater", "Angle", "Coord", "utils"]
+__all__ = ["MyCobot", "MycobotCommandGenerater", "Angle", "Coord", "utils"]
 
-__version__ = "2.5.6"
+__version__ = "2.5.7"
 __author__ = "Zachary zhang"
 __email__ = "lijun.zhang@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -74,7 +74,7 @@ class Command(object):
 
     # Basic
     SET_BASIC_OUTPUT = 0xA0
-    GET_BASIC_OUTPUT = 0xA1
+    GET_BASIC_INPUT = 0xA1
 
 
 class DataProcessor(object):

pymycobot/generate.py

@@ -324,7 +324,7 @@ def get_encoder(self, joint_id):
     def set_encoders(self, encoders, sp):
         return self._mesg(Command.SET_ENCODERS, encoders, sp)
 
-    def set_encoders(self):
+    def get_encoders(self):
         return self._mesg(Command.GET_ENCODERS, has_reply=True)
 
     # Running status and Settings
@@ -491,4 +491,4 @@ def get_basic_input(self, pin_no):
         Args:
             pin_no: pin port number.
         """
-        return self._mesg(Command.GET_BASIC_OUTPUT, pin_no, has_reply=True)
+        return self._mesg(Command.GET_BASIC_INPUT, pin_no, has_reply=True)

pymycobot/mycobot.py

@@ -1,6 +1,5 @@
 import time
 import math
-import serial
 import logging
 
 from pymycobot.log import setup_logging
@@ -55,6 +54,8 @@ def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
         self.debug = debug
         setup_logging(self.debug)
         self.log = logging.getLogger(__name__)
+        import serial
+
         self._serial_port = serial.Serial(port, baudrate, timeout=timeout)
 
     def _write(self, command):
@@ -104,6 +105,8 @@ def _mesg(self, genre, *args, **kwargs):
                 Command.GET_GRIPPER_VALUE,
                 Command.IS_GRIPPER_MOVING,
                 Command.GET_SPEED,
+                Command.GET_ENCODER,
+                Command.GET_BASIC_INPUT,
             ]:
                 return self._process_single(res)
             elif genre in [Command.GET_ANGLES]:

setup.py

@@ -1,4 +1,3 @@
-import os
 import sys
 
 PYTHON_VERSION = sys.version_info[:2]
@@ -8,7 +7,6 @@
 
 import setuptools
 
-os.environ["_MYCOBOT_VERSION_ONLY"] = "1"
 import pymycobot
 
 if PYTHON_VERSION == (2, 7):