fix bug

Author: anla-xu

pymycobot/Interface.py

@@ -1062,7 +1062,7 @@ def collision_switch(self, state):
         Args:
             state (int): 0 - close 1 - open (Off by default)
         """
-        return self._mesg(ProtocolCode.COLLISION_SWITCH, state)
+        return self._mesg(ProtocolCode.COLLISION_SWITCH, 0, state)
 
     def is_collision_on(self):
         """Get collision detection status
@@ -1082,7 +1082,7 @@ def get_servo_speeds(self, id):
         Return: 
             unit step/s
         """
-        return self._mesg(ProtocolCode.GET_SERVO_SPEED, id, has_reply=True)
+        return self._mesg(0xE7, id, has_reply=True)
 
     def set_encoders_drag(self, id, encoders, speeds):
         """Send all potential values and speeds
@@ -1093,7 +1093,7 @@ def set_encoders_drag(self, id, encoders, speeds):
             speeds: from get_servo_speeds()
         
         """
-        return self._mesg(ProtocolCode.JOG_INC_COORD, id, encoders, speeds)
+        return self._mesg(ProtocolCode.SET_ENCODERS_DRAG, id, encoders, speeds)
 
 
     # def init_iic(self):

pymycobot/generate.py

@@ -182,7 +182,7 @@ def is_controller_connected(self):
 
     def read_next_error(self):
         """Robot Error Detection"""
-        return self._mesg(ProtocolCode.READ_NEXT_ERROR, 0, has_reply=True)    
+        return self._mesg(ProtocolCode.READ_NEXT_ERROR, has_reply=True)    
 
     def set_free_mode(self, flag):
         """set to free mode