save code

Author: anla-xu

docs/README.md

@@ -95,9 +95,9 @@ We support Python2, Python3.5 or later.
     - [get\_plan\_acceleration](#get_plan_acceleration)
     - [set\_plan\_speed](#set_plan_speed)
     - [set\_plan\_acceleration](#set_plan_acceleration)
-    - [set\_gservo\_round](#move_round)
+    - [move\_round](#move_round)
     - [get\_basic\_version](#get_basic_version)
-    - [set\_communicate\_mode](#set_transponder_mode)
+    - [set\_transponder\_mode](#set_transponder_mode)
     - [get\_servo\_speeds](#get_servo_speeds)
     - [get\_servo\_currents](#get_servo_currents)
     - [get\_servo\_voltages](#get_servo_voltages)
@@ -112,7 +112,7 @@ We support Python2, Python3.5 or later.
     - [set\_solution\_angles](#set_solution_angles)
     - [joint\_brake](#joint_brake)
     - [get\_transponder\_mode](#get_transponder_mode)
-    - [set\_transponder\_mode](#set_transponder_mode)
+    - [set\_transponder\_mode](#set_transponder_mode-1)
   - [Raspberry pi -- GPIO](#raspberry-pi----gpio)
     - [gpio\_init](#gpio_init)
     - [gpio\_output](#gpio_output)

docs/myAGV.md

@@ -0,0 +1,127 @@
+# myAgv
+
+<details>
+<summary>Catalogue:</summary>
+
+- [myAgv](#myagv)
+  - [set\_led(mode, R, G, B)](#set_ledmode-r-g-b)
+  - [get\_firmware\_version](#get_firmware_version)
+  - [get\_motors\_current](#get_motors_current)
+  - [get\_battery\_info](#get_battery_info)
+  - [move\_control(direction\_1, direction\_2, direction\_3)](#move_controldirection_1-direction_2-direction_3)
+  - [go\_ahead(go\_speed)](#go_aheadgo_speed)
+  - [retreat(back\_speed)](#retreatback_speed)
+  - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed)
+  - [pan\_right(pan\_right\_speed)](#pan_rightpan_right_speed)
+  - [clockwise\_rotation(rotate\_right\_speed)](#clockwise_rotationrotate_right_speed)
+  - [counterclockwise\_rotation(rotate\_left\_speed)](#counterclockwise_rotationrotate_left_speed)
+  - [stop()](#stop)
+  - [restore()](#restore)
+
+</details>
+
+## set_led(mode, R, G, B)
+
+Set up LED lights
+
+- **Parameters**
+
+  - **mode** – 1 - Set LED light color. 2 - Set the LED light to blink.
+
+  - **R** – (int) 0 ~ 255
+
+  - **G** – (int) 0 ~ 255
+
+  - **B** – (int) 0 ~ 255
+
+## get_firmware_version
+
+Get firmware version number
+
+## get_motors_current
+
+Get the total current of the motor
+
+## get_battery_info
+
+Read battery information
+
+- **Return**
+  list : [battery_data, battery_1_voltage, battery_2_voltage].
+  `battery_data`:A string of length 6, represented from left to right: bit5, bit4, bit3, bit2, bit1, bit0.
+  bit5 : Battery 2 is inserted into the interface 1 means inserted, 0 is not inserted.
+  bit4 : Battery 1 is inserted into the interface, 1 means inserted, 0 is not inserted.
+  bit3 : The adapter is plugged into the interface 1 means plugged in, 0 not plugged in.
+  bit2 : The charging pile is inserted into the interface, 1 means plugged in, 0 is not plugged in.
+  bit1 : Battery 2 charging light 0 means off, 1 means on.
+  bit0 : Battery 1 charging light, 0 means off, 1 means on.
+  `battery_1_voltage` : Battery 1 voltage in volts.
+  `battery_2_voltage` : Battery 2 voltage in volts.
+
+## move_control(direction_1, direction_2, direction_3)
+
+Control the car to rotate forward, backward, left, right and forward/counterclockwise.
+
+- **Parameters**
+
+  - **direction_1** – (int) Control forward or backward: 0 ~ 127 is backward, 129 ~ 255 is forward, 128 is stop.
+
+  - **direction_2** – (int) control left and right movement: 0 ~ 127 is right, 129 ~ 255 is left, 128 is stop.
+
+  - **direction_3** – (int) control rotation: 0 ~ 127 is clockwise, 129 ~ 255 is counterclockwise, 128 is stop.
+
+## go_ahead(go_speed)
+
+Control the car to move forward
+
+- **Parameters**
+
+  - **go_speed** – (int) 1 ~ 127 is forward.The smaller the value, the smaller the speed
+
+## retreat(back_speed)
+
+Control the car back
+
+- **Parameters**
+
+  - **back_speed** – (int) 1 ~ 127 is backward.The smaller the value, the smaller the speed
+
+## pan_left(pan_left_speed)
+
+Control the car to pan to the left
+
+- **Parameters**
+
+  - **pan_left_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed
+
+## pan_right(pan_right_speed)
+
+Control the car to pan to the right
+
+- **Parameters**
+
+  - **pan_right_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed
+
+## clockwise_rotation(rotate_right_speed)
+
+Control the car to rotate clockwise
+
+- **Parameters**
+
+  - **rotate_right_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed
+
+## counterclockwise_rotation(rotate_left_speed)
+
+Control the car to rotate counterclockwise
+
+- **Parameters**
+
+  - **rotate_left_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed
+
+## stop()
+
+stop motion.
+
+## restore()
+
+Motor stall recovery

docs/myAGV_en.md

@@ -0,0 +1,127 @@
+# myAgv
+
+<details>
+<summary>API目录:</summary>
+
+- [myAgv](#myagv)
+  - [set\_led(mode, R, G, B)](#set_ledmode-r-g-b)
+  - [get\_firmware\_version](#get_firmware_version)
+  - [get\_motors\_current](#get_motors_current)
+  - [get\_battery\_info](#get_battery_info)
+  - [move\_control(direction\_1, direction\_2, direction\_3)](#move_controldirection_1-direction_2-direction_3)
+  - [go\_ahead(go\_speed)](#go_aheadgo_speed)
+  - [retreat(back\_speed)](#retreatback_speed)
+  - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed)
+  - [pan\_right(pan\_right\_speed)](#pan_rightpan_right_speed)
+  - [clockwise\_rotation(rotate\_right\_speed)](#clockwise_rotationrotate_right_speed)
+  - [counterclockwise\_rotation(rotate\_left\_speed)](#counterclockwise_rotationrotate_left_speed)
+  - [stop()](#stop)
+  - [restore()](#restore)
+
+</details>
+
+## set_led(mode, R, G, B)
+
+设置led灯颜色
+
+- **参数**
+
+  - **mode** – 1 - 常亮. 2 - 闪烁.
+
+  - **R** – (int) 0 ~ 255
+
+  - **G** – (int) 0 ~ 255
+
+  - **B** – (int) 0 ~ 255
+
+## get_firmware_version
+
+获取固件版本号
+
+## get_motors_current
+
+获取电机电流信息
+
+## get_battery_info
+
+获取电池信息
+
+- **Return**
+  list : [battery_data, battery_1_voltage, battery_2_voltage].
+  `battery_data`: 长度为6的字符串, 从左到右依次对应: bit5, bit4, bit3, bit2, bit1, bit0.
+  bit5 : 电池2插入接口，1表示插入，0未插入.
+  bit4 : 电池1插入接口，1表示插入，0未插入.
+  bit3 : 适配器插入接口，1表示插入，0未插入.
+  bit2 : 充电桩插入接口，1表示插入，0未插入.
+  bit1 : 电池2充电灯，0表示没亮，1表示亮.
+  bit0 : 电池1充电灯，0表示没亮，1表示亮.
+  `battery_1_voltage` : 电池1电压.
+  `battery_2_voltage` : 电池2电压.
+
+## move_control(direction_1, direction_2, direction_3)
+
+运动控制接口，控制小车前进、后退、平移、旋转.
+
+- **参数**
+
+  - **direction_1** – (int) 控制前进或者后退: 0 ~ 127 表示后退, 129 ~ 255 表示前进, 128 表示停止.
+
+  - **direction_2** – (int) 控制左右平移: 0 ~ 127 表示向右平移, 129 ~ 255 表示向左平移, 128 表示停止.
+
+  - **direction_3** – (int) 控制旋转: 0 ~ 127 表示顺时针旋转, 129 ~ 255 表示逆时针旋转, 128 表示停止.
+
+## go_ahead(go_speed)
+
+控制前进
+
+- **参数**
+
+  - **go_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## retreat(back_speed)
+
+控制后退
+
+- **参数**
+
+  - **back_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## pan_left(pan_left_speed)
+
+控制左平移
+
+- **参数**
+
+  - **pan_left_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## pan_right(pan_right_speed)
+
+控制右平移
+
+- **参数**
+
+  - **pan_right_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## clockwise_rotation(rotate_right_speed)
+
+控制顺时针旋转
+
+- **参数**
+
+  - **rotate_right_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## counterclockwise_rotation(rotate_left_speed)
+
+控制逆时针旋转
+
+- **参数**
+
+  - **rotate_left_speed** – (int) 1 ~ 127 数值越小，速度越慢
+
+## stop()
+
+停止运动
+
+## restore()
+
+堵转恢复

docs/myAGV_zh.md

@@ -2,5 +2,5 @@
 from pymycobot import MyCobot
 
 class MechArm(MyCobot):
-    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
-        super(MechArm, self).__init__(port, baudrate, timeout, debug)
+    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False, thread_lock=False):
+        super(MechArm, self).__init__(port, baudrate, timeout, debug, thread_lock)

pymycobot/mecharm.py

@@ -274,6 +274,6 @@ def get_muc_info(self):
         return res
 
     def restore(self):
-        """"""
+        """Motor stall recovery"""
         self._mesg(ProtocolCode.RESTORE.value, 1)
 

pymycobot/myagv.py

@@ -407,6 +407,7 @@ def sync_send_angles(self, id, degrees, speed, timeout=15):
         """
         t = time.time()
         self.send_angles(id, degrees, speed)
+        time.sleep(0.5)
         while time.time() - t < timeout:
             f = self.is_in_position(id, degrees, 0)
             if f == 1:
@@ -425,6 +426,7 @@ def sync_send_coords(self, id, coords, speed, mode=0, timeout=15):
         """
         t = time.time()
         self.send_coords(id, coords, speed, mode)
+        time.sleep(0.5)
         while time.time() - t < timeout:
             if self.is_in_position(id, coords, 1) == 1:
                 break

pymycobot/mybuddy.py

@@ -330,48 +330,48 @@ def _aging_test(self):
         self.stop_test = False
         while True and time.time() - start < 60*30 and self.stop_test == False:
             self.mycobot.set_color(255, 0, 0)
-            self.mycobot.wait(5).send_angles([0, 0, 0, 0, 0], 95)
+            self.mycobot.wait(5).send_angles([0, 0, 0, 0], 95)
             self.mycobot.wait(3).send_angles([-160, 0, 0, 0], 95)
             self.mycobot.wait(3).send_angles([160, 0, 0, 0], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 95)
             self.mycobot.wait(3).send_angles([0, 80, 0, 0], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 95)
-            self.mycobot.wait(3).send_angles([0, 0, -90, 0], 95)
-            self.mycobot.wait(3).send_angles([0, 0, -60, 0], 95)
+            self.mycobot.wait(3).send_angles([0, 0, 20, 0], 95)
+            self.mycobot.wait(3).send_angles([0, 0, 40, 0], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, 180], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, -180], 95)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 95)
 
             # middle
             self.mycobot.set_color(0, 255, 0)
-            self.mycobot.wait(5).send_angles([0, 0, 0, 0, 0], 55)
-            self.mycobot.wait(3).send_angles([-160, 0, 0, 0], 55)
-            self.mycobot.wait(3).send_angles([160, 0, 0, 0], 55)
+            self.mycobot.wait(5).send_angles([0, 0, 0, 0], 55)
+            self.mycobot.wait(5).send_angles([-160, 0, 0, 0], 55)
+            self.mycobot.wait(5).send_angles([160, 0, 0, 0], 55)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 55)
             self.mycobot.wait(3).send_angles([0, 80, 0, 0], 55)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 55)
-            self.mycobot.wait(3).send_angles([0, 0, -90, 0], 55)
-            self.mycobot.wait(3).send_angles([0, 0, -60, 0], 55)
-            self.mycobot.wait(3).send_angles([0, 0, 0, 0], 55)
-            self.mycobot.wait(3).send_angles([0, 0, 0, 180], 55)
-            self.mycobot.wait(3).send_angles([0, 0, 0, -180], 55)
+            self.mycobot.wait(3).send_angles([0, 0, 20, 0], 55)
+            self.mycobot.wait(3).send_angles([0, 0, 40, 0], 55)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 55)
+            self.mycobot.wait(6).send_angles([0, 0, 0, 180], 55)
+            self.mycobot.wait(6).send_angles([0, 0, 0, -180], 55)
+            self.mycobot.wait(6).send_angles([0, 0, 0, 0], 55)
 
             # slow
             self.mycobot.set_color(0, 0, 255)
-            self.mycobot.wait(5).send_angles([0, 0, 0, 0, 0], 15)
-            self.mycobot.wait(3).send_angles([-160, 0, 0, 0], 15)
-            self.mycobot.wait(3).send_angles([160, 0, 0, 0], 15)
-            self.mycobot.wait(3).send_angles([0, 0, 0, 0], 15)
+            self.mycobot.wait(5).send_angles([0, 0, 0, 0], 15)
+            self.mycobot.wait(8).send_angles([-160, 0, 0, 0], 15)
+            self.mycobot.wait(8).send_angles([160, 0, 0, 0], 15)
+            self.mycobot.wait(5).send_angles([0, 0, 0, 0], 15)
             self.mycobot.wait(3).send_angles([0, 80, 0, 0], 15)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 15)
-            self.mycobot.wait(3).send_angles([0, 0, -90, 0], 15)
-            self.mycobot.wait(3).send_angles([0, 0, -60, 0], 15)
-            self.mycobot.wait(3).send_angles([0, 0, 0, 0], 15)
-            self.mycobot.wait(3).send_angles([0, 0, 0, 180], 15)
-            self.mycobot.wait(3).send_angles([0, 0, 0, -180], 15)
+            self.mycobot.wait(3).send_angles([0, 0, 20, 0], 15)
+            self.mycobot.wait(3).send_angles([0, 0, 40, 0], 15)
             self.mycobot.wait(3).send_angles([0, 0, 0, 0], 15)
+            self.mycobot.wait(8).send_angles([0, 0, 0, 180], 15)
+            self.mycobot.wait(8).send_angles([0, 0, 0, -180], 15)
+            self.mycobot.wait(5).send_angles([0, 0, 0, 0], 15)
         self.mycobot.send_angles([0, 0, 0, 0], 35)
         self.write_log_to_Text("老化测试结束。")
         # aging_test_content_py = textwrap.dedent(