elephantrobotics
diff --git a/‎CHANGELOG.md‎
Lines changed: 5 additions & 0 deletions b/‎CHANGELOG.md‎
Lines changed: 5 additions & 0 deletions
diff --git a/‎README.md‎
Lines changed: 3 additions & 3 deletions b/‎README.md‎
Lines changed: 3 additions & 3 deletions
diff --git a/‎docs/MyCobot_320_en.md‎
Lines changed: 3 additions & 3 deletions b/‎docs/MyCobot_320_en.md‎
Lines changed: 3 additions & 3 deletions
diff --git a/‎docs/MyCobot_320_zh.md‎
Lines changed: 3 additions & 3 deletions b/‎docs/MyCobot_320_zh.md‎
Lines changed: 3 additions & 3 deletions
diff --git a/‎docs/MyCobot_Pro450_cn.md‎
Lines changed: 37 additions & 4 deletions b/‎docs/MyCobot_Pro450_cn.md‎
Lines changed: 37 additions & 4 deletions
diff --git a/‎docs/MyCobot_Pro450_en.md‎
Lines changed: 34 additions & 0 deletions b/‎docs/MyCobot_Pro450_en.md‎
Lines changed: 34 additions & 0 deletions
diff --git a/‎pymycobot/__init__.py‎
Lines changed: 5 additions & 6 deletions b/‎pymycobot/__init__.py‎
Lines changed: 5 additions & 6 deletions
diff --git a/‎pymycobot/common.py‎
Lines changed: 4 additions & 0 deletions b/‎pymycobot/common.py‎
Lines changed: 4 additions & 0 deletions
diff --git a/‎pymycobot/conveyor_api.py‎
Lines changed: 10 additions & 11 deletions b/‎pymycobot/conveyor_api.py‎
Lines changed: 10 additions & 11 deletions
diff --git a/‎pymycobot/error.py‎
Lines changed: 23 additions & 9 deletions b/‎pymycobot/error.py‎
Lines changed: 23 additions & 9 deletions
@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v4.0.1 (2025-09-15)
+
+- release v4.0.1
+- Fix bugs
+
 ## v4.0.0 (2025-07-15)
 
 - release v4.0.0
 
@@ -1,10 +1,9 @@
 # This is Python API for ElephantRobotics product
 
-![Python 2.7](https://img.shields.io/badge/Python-v2.7%5E-green?logo=python)
 ![Python 3](https://img.shields.io/badge/Python-v3%5E-green?logo=python)
 [![pypi_version](https://img.shields.io/pypi/v/pymycobot?label=pypi)](https://pypi.org/project/pigit)
 
-This is a python API for serial communication with mycobot and controlling it.
+This is a python API for serial communication with robot and controlling it.
 
 [![home](./f3-min2.jpg)](https://www.elephantrobotics.com/en/myCobot-en/)
 
@@ -35,10 +34,11 @@ pip install pymycobot==1.0.7 --user
 ### Source code
 
 ```bash
+# The latest code branch is the develop branch. You can choose to install it if necessary.
 git clone https://github.com/elephantrobotics/pymycobot.git <your-path>
 cd <your-path>/pymycobot
 # Install
-[sudo] python2 setup.py install
+[sudo] python2 setup.py install # Will not support starting from v4.0.1
 # or
 [sudo] python3 setup.py install
 ```
 
@@ -365,7 +365,7 @@ mc.send_angle(1, 40, 20)
 - **function:** Angle step, single joint angle increment control
 - **Parameters**:
   - `joint_id`: 1-6
-  - `increment`: Incremental movement based on the current position angle
+  - `increment`: Incremental movement based on the current position angle, The increment range is the positive and negative span of the joint motion angle range. For example, if the limit of J1 is [-168°, +168°], the input range is [-336°, +336°], refer to [send_angle()](#send_angleid-degree-speed)
   - `speed`: 1 ~ 100
 - **Return value:**
   - `1`: completed
@@ -375,7 +375,7 @@ mc.send_angle(1, 40, 20)
 - **function:** Coord step, single coord increment control
 - **Parameters**:
   - `id`: axis 1-6
-  - `increment`: Incremental movement based on the current position coord
+  - `increment`: Incremental movement based on the current position coord, The range is the span of the physical movement of the corresponding coordinate axis. For example, if the X-axis range is [-350 mm, +350 mm] and the span is 700 mm, the input increment range is [-700 mm, +700 mm], refer to [send_coord()](#send_coordid-coord-speed)
   - `speed`: 1 ~ 100
 - **Return value:**
   - `1`: completed
@@ -1008,7 +1008,7 @@ from pymycobot import utils
   - 0 - Failed
   - 1 - Success
 
-#### `get_pro_gripper_default_speed(speed，gripper_id=14)`
+#### `get_pro_gripper_speed(speed，gripper_id=14)`
 
 - **Function**: Read the default speed of the force-controlled gripper.
 - **Parameter**:
 
@@ -363,7 +363,7 @@ mc.send_angle(1, 40, 20)
 - **功能**：角度步进，单关节角度增量控制
 - **参数**：
   - `joint_id`：1-6
-  - `increment`：基于当前位置角度的增量移动
+  - `increment`：基于当前位置角度的增量移动，增量范围为该关节运动角度区间的正负跨度。例如 J1 的限位 [-168°, +168°]，则可输入范围为 [-336°, +336°], 参考 [send_angle()](#send_angleid-degree-speed)
   - `speed`：1~100
 - **返回值:**
   - `1`: 完成
@@ -373,7 +373,7 @@ mc.send_angle(1, 40, 20)
 - **功能**：坐标步进，单坐标增量控制
 - **参数**：
   - `id`：坐标 id 1-6
-  - `increment`：基于当前位置坐标的增量移动
+  - `increment`：基于当前位置坐标的增量移动，范围为对应坐标轴的物理运动区间跨度,例如 X 轴范围为 [-350 mm, +350 mm]，跨度 700 mm，则可输入的增量范围为 [-700 mm, +700 mm]， 参考 [send_coord()](#send_coordid-coord-speed)
   - `speed`：1~100
 - **返回值**：
 - `1`：完成
@@ -989,7 +989,7 @@ from pymycobot import utils
   - 0 - 失败
   - 1 - 成功
 
-#### `get_pro_gripper_default_speed(speed, gripper_id=14)`
+#### `get_pro_gripper_speed(speed, gripper_id=14)`
 
 - **功能**：读取力控夹爪默认速度。
 - **参数**：
 
@@ -83,16 +83,49 @@ print(mc.get_angles())
 - **功能:** 查询运动模式
 
 - **返回值:** 
-- `0`: 插补模式
-- `1`: 刷新模式
+  - `0`: 插补模式
+  - `1`: 刷新模式
 
 #### `set_fresh_mode()`
 
 - **功能:** 设置刷新模式
 
 - **参数:**
-- `1`: 总是首先执行最新的命令。
-- `0`: 以队列的形式按顺序执行指令。
+  - `1`: 总是首先执行最新的命令。
+  - `0`: 以队列的形式按顺序执行指令。
+
+#### `get_debug_state()`
+
+- **功能:** 获取当前机器人的调试日志模式。
+
+- **返回值:** `int`: 当前调试日志状态。
+  - `0`: 不记录任何调试日志 
+  - `1`: 仅常规调试日志 (_debug.log)
+  - `2`: 仅运动相关日志 (_move.log)
+  - `3`: 常规 + 运动相关日志 (_debug.log + _move.log)
+  - `4`: 仅电机读/控制频率日志 (_clock_rate_debug.log)
+  - `5`: 常规 + 电机频率日志 (_debug.log + _clock_rate_debug.log)
+  - `6`: 运动 + 电机频率日志 (_move.log + _clock_rate_debug.log)
+  - `7`: 记录全部日志
+
+#### `set_debug_state(log_state)`
+
+- **功能:** 设置当前机器人的调试日志模式。
+  
+- **参数:** 
+  - `log_state`: `int`, 调试日志状态（0 ~ 7）
+    - `0`: 不记录任何调试日志 
+    - `1`: 仅常规调试日志 (_debug.log)
+    - `2`: 仅运动相关日志 (_move.log)
+    - `3`: 常规 + 运动相关日志 (_debug.log + _move.log)
+    - `4`: 仅电机读/控制频率日志 (_clock_rate_debug.log)
+    - `5`: 常规 + 电机频率日志 (_debug.log + _clock_rate_debug.log)
+    - `6`: 运动 + 电机频率日志 (_move.log + _clock_rate_debug.log)
+    - `7`: 记录全部日志
+- **返回值**：`int`
+  - 1-成功
+  - 0-失败
+  - -1-错误
 
 ### 3. 机器人异常检测
 
 
@@ -94,6 +94,40 @@ print(mc.get_angles())
   - `1`: Always execute the latest command first.
   - `0`: Execute instructions sequentially in the form of a queue.
 
+#### `get_debug_state()`
+
+- **Function:** Get the current robot's debug logging mode.
+
+- **Return value:** `int`: Current debug logging state.
+  - `0`: No debug logs
+  - `1`: General debug log only (_debug.log)
+  - `2`: Motion-related log only (_move.log)
+  - `3`: General and motion-related logs (_debug.log + _move.log)
+  - `4`: Motor read/control frequency log only (_clock_rate_debug.log)
+  - `5`: General and motor frequency logs (_debug.log + _clock_rate_debug.log)
+  - `6`: Motion and motor frequency logs (_move.log + _clock_rate_debug.log)
+  - `7`: All logs
+
+#### `set_debug_state(log_state)`
+
+- **Function:** Set the debug logging mode for the current robot.
+
+- **Parameters:**
+  - `log_state`: `int`, debug log state (0 to 7)
+    - `0`: Do not log any debug logs
+    - `1`: General debug log only (_debug.log)
+    - `2`: Motion-related log only (_move.log)
+    - `3`: General and motion-related logs (_debug.log + _move.log)
+    - `4`: Motor read/control frequency log only (_clock_rate_debug.log)
+    - `5`: General and motor frequency logs (_debug.log + _clock_rate_debug.log)
+    - `6`: Motion and motor frequency logs (_move.log + _clock_rate_debug.log)
+    - `7`: Log all logs
+
+- **Return value**: `int`
+  - 1 - Success
+  - 0 - Failure
+  - 1 - Error
+
 ### 3.Robot abnormal control
 
 #### `get_robot_status()`
 
@@ -1,6 +1,6 @@
-# coding=utf-8
+"""pymycobot package initialization module."""
 
-from __future__ import absolute_import
+# ruff: noqa: F401
 import datetime
 import sys
 from pymycobot.mycobot280 import MyCobot280
@@ -33,6 +33,7 @@
 from pymycobot.myagvpro_bluetooth import MyAGVProBluetooth
 from pymycobot.myarmsocket import MyArmSocket
 from pymycobot.mecharmsocket import MechArmSocket
+
 # from pymycobot.mycobotpro630 import Phoenix
 from pymycobot.mercurysocket import MercurySocket
 from pymycobot.myarmm import MyArmM
@@ -101,13 +102,11 @@
     "Pro450Client",
 ]
 
-__version__ = "4.0.1b0"
+__version__ = "4.0.1"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
-__copyright__ = "CopyRight (c) 2020-{0} Shenzhen Elephantrobotics technology".format(
-    datetime.datetime.now().year
-)
+__copyright__ = f"CopyRight (c) 2020-{datetime.datetime.now().year} Shenzhen Elephantrobotics technology"
 
 # For raspberry mycobot 280.
 PI_PORT = "/dev/ttyAMA0"
 
@@ -297,6 +297,10 @@ class ProtocolCode(object):
     GET_FILTER_LEN = 0x7E
     SET_FILTER_LEN = 0x7F
 
+    # Set Debug Log for Pro450
+    SET_DEBUG_LOG_MODE = 0x68
+    GET_DEBUG_LOG_MODE = 0x69
+
     # Basic
     SET_BASIC_OUTPUT = 0xA0
     GET_BASIC_INPUT = 0xA1
 
@@ -10,9 +10,9 @@ def setup_serial_connect(port, baudrate, timeout=None):
     serial_api.port = port
     serial_api.baudrate = baudrate
     serial_api.timeout = timeout
-    serial_api.rts = False
-    serial_api.dtr = False
     serial_api.open()
+    serial_api.rts = False
+    serial_api.dtr = True
     return serial_api
 
 
@@ -139,6 +139,7 @@ class MotorModel:
 
     def __init__(self, comport, baudrate="115200", timeout=0.1, debug=False, motor_model=MotorModel.STEPPER_MOTOR_57):
         super().__init__(comport, baudrate, timeout)
+        time.sleep(2)   # If the Arduino mega 2560 is reset, you need to wait for the reset to complete
         self._debug = debug
         self._motor_model = motor_model
         self._mutex = threading.Lock()
@@ -176,7 +177,7 @@ def _merge(self, genre, address, *parameters, has_reply=False):
             if not has_reply:
                 return
 
-            reply_command = self._wait_for_reply(timeout=0.07)  # WaitForAReply
+            reply_command = self._wait_for_reply(timeout=0.2)  # WaitForAReply
             self._log.debug(f"read  < {reply_command}")
             if not reply_command:
                 return None
@@ -190,7 +191,7 @@ def set_motor_direction(self, direction):
         """Modify the direction of movement of the conveyor belt"""
         if direction not in (0, 1):
             raise ValueError("direction must be 0 or 1")
-        self._merge(CommandGenre.SET_SERVO_DIRECTION, self._motor_model, direction)
+        return self._merge(CommandGenre.SET_SERVO_DIRECTION, self._motor_model, direction, has_reply=True)
 
     def get_motor_direction(self):
         """Get the direction of movement of the conveyor belt"""
@@ -200,17 +201,15 @@ def get_motor_speed(self):
         """Get the speed of the conveyor belt"""
         return self._merge(CommandGenre.GET_SERVO_SPEED, self._motor_model, has_reply=True)
 
-    def set_speed(self, speed):
+    def set_motor_speed(self, speed):
         """modify the speed of the conveyor belt"""
         if not 1 <= speed <= 100:
             raise ValueError("speed must be in range [1, 100]")
-        return self._merge(CommandGenre.SET_SERVO_SPEED, self._motor_model, 1, speed)
+        return self._merge(CommandGenre.SET_SERVO_SPEED, self._motor_model, 1, speed, has_reply=True)
 
-    def set_motor_state(self, state):
-        """Modify the state of the conveyor belt"""
-        if state not in (0, 1):
-            raise ValueError("state must be 0 or 1")
-        return self._merge(CommandGenre.SET_SERVO_SPEED, self._motor_model, state, 0)
+    def stop(self):
+        """stop the conveyor belt"""
+        return self._merge(CommandGenre.SET_SERVO_SPEED, self._motor_model, 0, 0, has_reply=True)
 
     def read_firmware_version(self):
         """Get the firmware version of the conveyor belt"""
 
@@ -777,10 +777,13 @@ def calibration_parameters(**kwargs):
                     raise MyCobot320DataException("The range of 'address' in {} is 1 ~ 44, but the received value is {}".format(parameter, address))
                 if address in invalid_addresses:
                     raise MyCobot320DataException("'address' in {} cannot be one of the following values: {}, but the received value is {}".format(parameter, invalid_addresses, address))
-                # 根据 address 来处理 value
-                if address in [3, 43]:
+                # Process value according to address
+                if address in [3]:
                     if data < 1 or data > 254:
                         raise MyCobot320DataException("Error in parameter '{}': The range of 'value' for address={} is 1 ~ 254, but the received value is {}".format(parameter, address, data))
+                elif address in [43]:
+                    if data < 100 or data > 300:
+                        raise MyCobot320DataException("Error in parameter '{}': The range of 'value' for address={} is 100 ~ 300, but the received value is {}".format(parameter, address, data))
                 elif address == 10:
                     if data not in [0, 1]:
                         raise MyCobot320DataException("Error in parameter '{}': Value for address={} must be 0 or 1, but the received value is {}".format(parameter, address, data))
@@ -856,15 +859,25 @@ def calibration_parameters(**kwargs):
                 check_0_or_1(parameter, value, [0, 1, 2, 3, 4], value_type, MyCobot320DataException, int)
 
             elif parameter == 'increment_angle':
-                increment_min = -360
-                increment_max = 360
+                id = kwargs.get('id', None)
+                index = robot_limit[class_name]['id'][id - 1] - 1
+                span = abs(robot_limit[class_name]["angles_max"][index] - robot_limit[class_name]["angles_min"][index])
+
+                increment_min = -span
+                increment_max = span
                 if value < increment_min or value > increment_max:
-                    raise MyCobot320DataException("The range of  angle increment is {} ~ {}, but the received is {}".format(increment_min, increment_max, value))
+                    raise MyCobot320DataException("increment angle value not right, should be {0} ~ {1}, but received {2}".format(increment_min, increment_max,value))
+
             elif parameter == 'increment_coord':
-                increment_min = -1000
-                increment_max = 1000
+                id = kwargs.get('id', None)
+                index = robot_limit[class_name]['id'][id - 1] - 1  # Get the index based on the ID
+                span = abs(robot_limit[class_name]["coords_max"][index] - robot_limit[class_name]["coords_min"][index])
+
+                increment_min = -span
+                increment_max = span
                 if value < increment_min or value > increment_max:
-                    raise MyCobot320DataException("The range of coord increment is {} ~ {}, but the received is {}".format(increment_min, increment_max, value))
+                    raise MyCobot320DataException(
+                        "Coordinate increment value not right, should be {0} ~ {1}, but received {2}".format(increment_min, increment_max,value))
             else:
                 public_check(parameter_list, kwargs, robot_limit, class_name, MyCobot320DataException)
     elif class_name in ["MechArm"]:
@@ -1582,7 +1595,8 @@ def calibration_parameters(**kwargs):
                 check_0_or_1(parameter, value, [1, 2], value_type, MyCobotPro450DataException, int)
             elif parameter == ['pin_signal', 'value', 'state']:
                 check_0_or_1(parameter, value, [0, 1], value_type, MyCobotPro450DataException, int)
-
+            elif parameter == ['log_state']:
+                check_0_or_1(parameter, value, [0, 1, 2, 3, 4, 5, 6, 7], value_type, MyCobotPro450DataException, int)
             elif parameter == 'joint_id':
                 if value not in robot_limit[class_name][parameter]:
                     check_id(value, robot_limit[class_name][parameter], MyCobotPro450DataException)