fix: bug, imporve compatibility.

Author: zlj-zz

CHANGELOG.md

@@ -1,3 +1,9 @@
+# 2021.3.29
+
+- release v2.3.1
+- fix error bug
+- add new method `set_encoder`, `get_encoder`, `set_encoders`
+
 # 2021.3.26
 
 - release **v2.3**

pymycobot/common.py

@@ -33,6 +33,9 @@ class Command():
     JOG_ANGLE = 0x30
     JOG_COORD = 0x32
     JOG_STOP = 0x34
+    SET_ENCODER = 0x3a
+    GET_ENCODER = 0x3b
+    SET_ENCODERS = 0x3c
 
     # RUNNING STATUS AND SETTINGS
     GET_SPEED = 0x40
@@ -98,7 +101,7 @@ def _process_data_command(self, args):
             return []
 
         return self._flatten([
-                [self._encode_int16(i) for i in x]
+                [self._encode_int16(int(i)) for i in x]
                 if isinstance(x, list) else x
                     for x in args])
 

pymycobot/error.py

@@ -88,7 +88,7 @@ def check_id(id):
 
 
 def check_angle(v):
-    if not check_range(id, [-180, 180]):
+    if not check_range(v, [-180, 180]):
         raise MyCobotDataException(
             'angle value not right, should be -180 ~ 180')
 
@@ -104,7 +104,7 @@ def check_coord(id, v):
     if id < 3:
         pass
     else:
-        if not check_range(id, [-180, 180]):
+        if not check_range(v, [-180, 180]):
             raise MyCobotDataException(
                 '{} value not right, should be -180 ~ 180'.format(coords[id]))
 

pymycobot/mycobot.py

@@ -39,6 +39,9 @@ class MyCobot(MyCobotData):
             jog_angle()
             jog_coord()
             jog_stop()
+            set_encoder()
+            get_encoder()
+            set_encoders()
 
         # Running status and Settings
             get_speed()
@@ -395,6 +398,15 @@ def jog_coord(self, coord_id, direction, speed):
     def jog_stop(self):
         self.__mesg(Command.JOG_STOP)
 
+    def set_encoder(self, joint_id, encoder):
+        self.__mesg(Command.SET_ENCODER, joint_id, [encoder])
+
+    def get_encoder(self, joint_id):
+        return self.__mesg(Command.GET_ENCODER, joint_id, has_reply=True)
+
+    def set_encoders(self, encoders, sp):
+        self.__mesg(Command.SET_ENCODERS, encoders, sp)
+
     # Running status and Settings
     def get_speed(self):
         return self._process_single(

setup.py

@@ -1,6 +1,6 @@
 import sys
 
-VERSION = "2.3"
+VERSION = "2.3.2"
 
 PYTHON_VERSION = sys.version_info[:2]
 if (2, 7) != PYTHON_VERSION < (3, 5):