release v2.5.3, sync with atom3.1

Author: zlj-zz

CHANGELOG.md

@@ -1,5 +1,10 @@
 # 2021
 
+## 6.24
+
+- release v2.5.3
+- sync with Atom3.1
+
 ## 6.10
 
 - release v2.5.1

pymycobot/__init__.py

@@ -5,7 +5,7 @@
 
 __all__ = ["MyCobot", "MycobotCommandGenerater", "Angle", "Coord"]
 
-__version__ = "2.5.2"
+__version__ = "2.5.3"
 __author__ = "Zachary zhang"
 __email__ = "lijun.zhang@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/generate.py

@@ -188,7 +188,7 @@ def send_angle(self, id, degree, speed):
         """
         check_datas(joint_id=id, degree=degree, speed=speed)
         return self._mesg(
-            Command.SEND_ANGLE, id - 1, [self._angle_to_int(degree)], speed
+            Command.SEND_ANGLE, id, [self._angle_to_int(degree)], speed
         )
 
     # @check_parameters(Command.SEND_ANGLES)
@@ -222,7 +222,7 @@ def send_coord(self, id, coord, speed):
         """
         check_datas(speed=speed)
         return self._mesg(
-            Command.SEND_COORD, id - 1, [self._coord_to_int(coord)], speed
+            Command.SEND_COORD, id, [self._coord_to_int(coord)], speed
         )
 
     def send_coords(self, coords, speed, mode):
@@ -319,10 +319,10 @@ def set_encoder(self, joint_id, encoder):
             joint_id: Joint id 1 - 7
             encoder: The value of the set encoder.
         """
-        return self._mesg(Command.SET_ENCODER, joint_id - 1, [encoder])
+        return self._mesg(Command.SET_ENCODER, joint_id, [encoder])
 
     def get_encoder(self, joint_id):
-        return self._mesg(Command.GET_ENCODER, joint_id - 1, has_reply=True)
+        return self._mesg(Command.GET_ENCODER, joint_id, has_reply=True)
 
     def set_encoders(self, encoders, sp):
         return self._mesg(Command.SET_ENCODERS, encoders, sp)
@@ -362,19 +362,19 @@ def get_joint_max_angle(self, joint_id):
 
     # Servo control
     def is_servo_enable(self, servo_id):
-        return self._mesg(Command.IS_SERVO_ENABLE, servo_id - 1)
+        return self._mesg(Command.IS_SERVO_ENABLE, servo_id)
 
     def is_all_servo_enable(self):
         return self._mesg(Command.IS_ALL_SERVO_ENABLE, has_reply=True)
 
     def set_servo_data(self, servo_no, data_id, value):
-        return self._mesg(Command.SET_SERVO_DATA, servo_no - 1, data_id, value)
+        return self._mesg(Command.SET_SERVO_DATA, servo_no, data_id, value)
 
     def get_servo_data(self, servo_no, data_id):
-        return self._mesg(Command.GET_SERVO_DATA, servo_no - 1, data_id, has_reply=True)
+        return self._mesg(Command.GET_SERVO_DATA, servo_no, data_id, has_reply=True)
 
     def set_servo_calibration(self, servo_no):
-        return self._mesg(Command.SET_SERVO_CALIBRATION, servo_no - 1)
+        return self._mesg(Command.SET_SERVO_CALIBRATION, servo_no)
 
     def release_servo(self, servo_id):
         """Power off designated servo

tests/test_generator.py

@@ -25,6 +25,7 @@ def setup():
 
 def test_generator(setup):
     # print(mg.__dir__())
+    print(mg.send_coords([-160, 160, 160, 0, 0, 0], 7, 2))
     print(mg.version())
     print(mg.power_on())
     print(mg.power_off())
@@ -35,7 +36,6 @@ def test_generator(setup):
     print(mg.send_angles([0, 0, 0, 0, 0, 0], 5))
     print(mg.get_coords())
     print(mg.send_coord(1, 110.5, 8))
-    print(mg.send_coords([160, 160, 160, 0, 0, 0], 7, 2))
     print(mg.pause())
     print(mg.is_paused())
     print(mg.resume())