Merge branch 'main' of github.com:elephantrobotics/pymycobot into mycobot_280_refactor

Author: wangWking

pymycobot/__init__.py

@@ -85,7 +85,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.6.5" 
+__version__ = "3.6.6" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/mecharm270.py

@@ -147,6 +147,8 @@ def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD:
             return 1
         res = self._process_received(data, genre)
+        if res is None:
+            return None
         if res is not None and isinstance(res, list) and len(res) == 1 and genre not in [ProtocolCode.GET_BASIC_VERSION,
                                                                                          ProtocolCode.GET_JOINT_MIN_ANGLE,
                                                                                          ProtocolCode.GET_JOINT_MAX_ANGLE,

pymycobot/mecharmsocket.py

@@ -140,7 +140,7 @@ def _mesg(self, genre, *args, **kwargs):
             if genre == ProtocolCode.SET_SSID_PWD:
                 return 1
             res = self._process_received(data, genre)
-            if res == []:
+            if res is None:
                 return None
             elif res is not None and isinstance(res, list) and len(res) == 1 and genre not in [
                 ProtocolCode.GET_BASIC_VERSION,

pymycobot/myarmm.py

@@ -6,7 +6,7 @@
 
 class MyArmM(MyArmAPI):
 
-    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
+    def __init__(self, port, baudrate="1000000", timeout=0.1, debug=False):
         super(MyArmM, self).__init__(port, baudrate, timeout,debug)
 
     def set_joint_angle(self, joint_id, angle, speed):

pymycobot/mybuddy.py

@@ -134,7 +134,7 @@ def _mesg(self, genre, *args, **kwargs):
             if has_reply:
                 data = self._read()
                 res = self._process_received(data, genre, arm=12)
-                if res == []:
+                if res is None:
                     return None
                 if genre in [
                     ProtocolCode.ROBOT_VERSION,

pymycobot/mybuddysocket.py

@@ -86,7 +86,7 @@ def _mesg(self, genre, *args, **kwargs):
             if has_reply:
                 data = self._read(genre, 'socket')
                 res = self._process_received(data, genre, arm=12)
-                if res == []:
+                if res is None:
                     return None
                 if genre in [
                     ProtocolCode.ROBOT_VERSION,

pymycobot/mycobot.py

@@ -107,6 +107,8 @@ def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD:
             return None
         res = self._process_received(data, genre)
+        if res is None:
+            return None
         if res is not None and isinstance(res, list) and len(res) == 1:
             return res[0]
         if genre in [

pymycobot/mycobot280.py

@@ -151,6 +151,8 @@ def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD:
             return 1
         res = self._process_received(data, genre)
+        if res is None:
+            return None
         if res is not None and isinstance(res, list) and len(res) == 1 and genre not in [ProtocolCode.GET_BASIC_VERSION,
                                                                                          ProtocolCode.GET_JOINT_MIN_ANGLE,
                                                                                          ProtocolCode.GET_JOINT_MAX_ANGLE,

pymycobot/mycobot280socket.py

@@ -144,7 +144,7 @@ def _mesg(self, genre, *args, **kwargs):
             if genre == ProtocolCode.SET_SSID_PWD:
                 return 1
             res = self._process_received(data, genre)
-            if res == []:
+            if res is None:
                 return None
             elif res is not None and isinstance(res, list) and len(res) == 1 and genre not in [
                 ProtocolCode.GET_BASIC_VERSION,

pymycobot/mycobot320.py

@@ -163,6 +163,8 @@ def _res(self, real_command, has_reply, genre):
         if genre == ProtocolCode.SET_SSID_PWD:
             return 1
         res = self._process_received(data, genre)
+        if res is None:
+            return None
         if res is not None and isinstance(res, list) and len(res) == 1 and genre not in [ProtocolCode.GET_BASIC_VERSION,
                                                                                          ProtocolCode.GET_JOINT_MIN_ANGLE,
                                                                                          ProtocolCode.GET_JOINT_MAX_ANGLE,