add 320 interface: set_gripper_mode(mode), get_gripper_mode(), get_servo_last_pdi(id)

Author: anla-xu

pymycobot/common.py

@@ -92,6 +92,8 @@ class ProtocolCode(object):
     SET_COLOR = 0x6A
     SET_ELETRIC_GRIPPER = 0x6B
     INIT_ELETRIC_GRIPPER = 0x6C
+    SET_GRIPPER_MODE = 0x6D
+    GET_GRIPPER_MODE = 0x6E
 
     GET_ACCEI_DATA = 0x73
 
@@ -144,6 +146,7 @@ class ProtocolCode(object):
     GET_SERVO_VOLTAGES = 0xE3
     GET_SERVO_STATUS = 0xE4
     GET_SERVO_TEMPS = 0xE5
+    GET_SERVO_LASTPDI = 0xE6
 
     GET_BASE_COORDS = 0xF0
     BASE_TO_SINGLE_COORDS = 0xF1
@@ -302,6 +305,9 @@ def _process_received(self, data, genre, arm=6):
             res.append(self._decode_int16(valid_data))
         elif data_len == 3:
             res.append(self._decode_int16(valid_data[1:]))
+        elif data_len == 4:
+            for i in range(1,4):
+                res.append(valid_data[i])
         elif data_len == 7:
             error_list = [i for i in valid_data]
             for i in error_list:

pymycobot/generate.py

@@ -962,3 +962,29 @@ def set_fresh_mode(self, mode):   # TODO 22-5-19 need test
     def get_fresh_mode(self):
         """Query sports mode"""
         return self._mesg(ProtocolCode.GET_FRESH_MODE, has_reply = True)
+    
+    def set_gripper_mode(self, mode):
+        """Set gripper mode
+        
+        Args:
+            mode: 0 - transparent transmission. 1 - Port Mode.
+        
+        """
+        return self._mesg(ProtocolCode.SET_GRIPPER_MODE, mode)
+    
+    def get_gripper_mode(self):
+        """Get gripper mode
+        
+        Return:
+            mode: 0 - transparent transmission. 1 - Port Mode.
+        """
+        return self._mesg(ProtocolCode.GET_GRIPPER_MODE, has_reply = True)
+    
+    def get_servo_last_pdi(self, id):
+        """Obtain the pdi of a single steering gear before modification
+        
+        Args:
+            id: 1 - 6.0
+        """
+        return self._mesg(ProtocolCode.GET_SERVO_LASTPDI, id, has_reply = True)
+        

pymycobot/mycobot.py

@@ -110,7 +110,8 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_REFERENCE_FRAME,
                 ProtocolCode.GET_JOINT_MIN_ANGLE,
                 ProtocolCode.GET_JOINT_MAX_ANGLE,
-                ProtocolCode.GET_FRESH_MODE
+                ProtocolCode.GET_FRESH_MODE,
+                ProtocolCode.GET_GRIPPER_MODE
             ]:
                 return self._process_single(res)
             elif genre in [ProtocolCode.GET_ANGLES]: