release v2.5.4

Author: zlj-zz

.vscode/settings.json

@@ -5,10 +5,12 @@
         "datas",
         "datefmt",
         "fomatter",
+        "gpio",
         "mesg",
         "mycobot",
         "pymycobot",
         "struct",
         "zhang"
-    ]
-}
+    ],
+    "restructuredtext.confPath": ""
+}

CHANGELOG.md

@@ -1,32 +1,47 @@
-# 2021
+# ChangeLog for pymycobot.
 
-## 6.24
+## v2.5.4 (2021-07-19)
+
+- release v2.5.4
+- add methods for raspberry pi version basic control.
+  - `def gpio_init(self)`
+  - `def gpio_output(self, pin, v)`
+
+---
+
+## v2.5.3 (2021-06-24)
 
 - release v2.5.3
 - sync with Atom3.1
 
-## 6.10
+---
+
+## v2.5.1 (2021-06-10)
 
-- release v2.5.1
 - improved parameter checking.
 - new class `MycobotCommandGenerator` that generate binary real command.
 - can import needed class from `pymycobot`, like:
   ```python
   from pymycobot import Mycobot, Angle, Coord, MycobotCommandGenerator
   ```
 
-## 5.27
+---
+
+## v2.4.2 (2021-05-27)
 
 - release v2.4.2
 - fixed `set_pwm_output()`
 
-## 5.24
+---
+
+## 2021-05-24
 
 - update demo.
 
-## 4.27
+---
+
+## v2.4.0 (2021-04-27)
 
-- release v2.4.0
 - set_free_mode -> release_all_servos
 - Add new port:
   - is_controller_connected
@@ -36,88 +51,108 @@
   - set_basic_output
 - Update API document.
 
-## 4.25
+---
+
+## v2.3.6 (2021-04-25)
 
-- release v2.3.6
 - fix focus_servo error
 
-## 4.20
+---
+
+## v2.3.5 (2021-04-20)
 
-- release v2.3.5
 - fix v2.3.4 install error
 
-## 4.19
+---
+
+## v2.3.4 (2021-04-19)
 
-- release **v2.3.4**
 - update debug mode
 
-## 4.2
+---
+
+## v2.3.3 (2021-04-02)
 
-- relase **v2.3.3**
 - fix bug.
 
-## 3.29
+---
+
+## v2.3.1 (2021-03-29)
 
-- release **v2.3.1**
 - fix error bug
 - add new method `set_encoder`, `get_encoder`, `set_encoders`
 
-## 3.26
+---
+
+## v2.3.0 (2021-03-26)
 
-- release **v2.3**
 - fix `is_in_position()`
 - refactor process method
 - some methods can be chained
 - add new methods to control pump
 - change `set_led_color(rgb:str)` -> `set_color(r:int, g:int, b:in)`
 
-## 3.12
+---
+
+## 2021-03-12
 
 added more test file.
 
-## 2.5
+---
 
-relase **v2.2.0**
+## v2.2.0 (2021-02-05)
 
 - add new method for girpper and IO.
 
-## 1.25
+---
 
-release **v2.1.2**
+## v2.1.2 (2021-01-25)
 
 - refactor pymycobot
 - add Error class
 
-## 1.20
+---
+
+## 2021-01-20
 
 `v1.0.6` fix get_coords() error.
 
 relase v2.0.0
 
-## 1.16
+---
+
+## 2021-01-16
 
 Upload to server, can use `pip` to installation now.
 
-## 1.9
+---
+
+## 2021-01-09
 
 Fix the API problem that `is_moving()` and other methods of mycobot cannot be used.
 
-## 1.8
+---
+
+## 2021-01-08
 
 Python API add new methods:
 
 - `jog_angle()`
 - `jog_coord()`
 - `jog_stop()`
 
-# 2020
+---
 
-## 12.30
+## 202-12-30
 
 Adding usage documents to Python API.
 
-## 12.29
+---
+
+## 2020-12-29
 
 Python API supports python2.7
 
 Modify the serial port to manual setting, support the use of window.
+
+---

Makefile

@@ -6,11 +6,21 @@ lint:
 	@if [ ! -f flake8 ]; then $(PY) -m pip install flake8; fi
 	flake8
 
+.PHONY: format
+format:
+	@if [ ! `$(PY) -m pip freeze | grep black` ]; then $(PY) -m pip install black; fi
+	$(PY) -m black ./pymycobot ./setup.py
+
 .PHONY: test
 test:
 	@if [ ! -f pytest ]; then $(PY) -m pip install pytest; fi
 	pytest -s ./tests/test_api.py
 
+.PHONY: clean
+clean:
+	find . -type f -name *.pyc -delete
+	find . -type d -name __pycache__ -delete
+
 .PHONY: del
 del: clean
 	@if [ -d ./dist ]; then rm -r ./dist/; fi
@@ -25,8 +35,3 @@ install: del
 release: del
 	$(PY) setup.py sdist bdist_wheel
 	twine upload dist/*
-
-.PHONY: clean
-clean:
-	find . -type f -name *.pyc -delete
-	find . -type d -name __pycache__ -delete

pymycobot/__init__.py

@@ -1,13 +1,14 @@
 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
 
     __all__ = ["MyCobot", "MycobotCommandGenerater", "Angle", "Coord"]
 
-__version__ = "2.5.3"
+__version__ = "2.5.4"
 __author__ = "Zachary zhang"
 __email__ = "lijun.zhang@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/generate.py

@@ -1,4 +1,3 @@
-import math
 import logging
 import sys
 
@@ -179,9 +178,7 @@ def send_angle(self, id, degree, speed):
             speed (int): 0 ~100
         """
         check_datas(joint_id=id, degree=degree, speed=speed)
-        return self._mesg(
-            Command.SEND_ANGLE, id, [self._angle_to_int(degree)], speed
-        )
+        return self._mesg(Command.SEND_ANGLE, id, [self._angle_to_int(degree)], speed)
 
     # @check_parameters(Command.SEND_ANGLES)
     def send_angles(self, degrees, speed):
@@ -213,9 +210,7 @@ def send_coord(self, id, coord, speed):
             speed(int):
         """
         check_datas(speed=speed)
-        return self._mesg(
-            Command.SEND_COORD, id, [self._coord_to_int(coord)], speed
-        )
+        return self._mesg(Command.SEND_COORD, id, [self._coord_to_int(coord)], speed)
 
     def send_coords(self, coords, speed, mode):
         """Send all coords
@@ -468,7 +463,7 @@ def is_gripper_moving(self):
 
     # Basic
     def set_basic_output(self, pin_no, pin_signal):
-        """
+        """Set basic output for M5 version.
 
         Args:
             pin_signal: 0 / 1

pymycobot/mycobot.py

@@ -163,6 +163,25 @@ def sync_send_coords(self, coords, speed, mode, timeout=7):
             time.sleep(0.1)
         return self
 
+    # Basic for raspberry pi.
+    def gpio_init(self):
+        """Init GPIO module.
+        Raspberry Pi version need this.
+        """
+        import RPi.GPIO as GPIO
+
+        GPIO.setmode(GPIO.BMC)
+        self.gpio = GPIO
+
+    def gpio_output(self, pin, v):
+        """Set GPIO output value.
+        Args:
+            pin: port number(int).
+            v: Output value(int), 1 - GPIO.HEIGH, 2 - GPIO.LOW
+        """
+        self.gpio.setup(pin, self.gpio.OUT)
+        self.gpio.setup(pin, v)
+
     # Other
     def wait(self, t):
         time.sleep(t)

setup.py

@@ -7,13 +7,14 @@
     sys.exit(1)
 
 import setuptools
+
 os.environ["_MYCOBOT_VERSION_ONLY"] = "1"
 import pymycobot
 
 if PYTHON_VERSION == (2, 7):
     long_description = ""
 else:
-    long_description = open("pymycobot/README.md").read()
+    long_description = open("README.md").read() + open("docs/README.md").read()
 
 setuptools.setup(
     name="pymycobot",