fix bug

Author: anla-xu

pymycobot/common.py

@@ -265,18 +265,18 @@ def _flatten(self, lst):
                 flat_list.extend(self._flatten(item))
         return flat_list
 
-    def _process_data_command(self, genre, args):
+    def _process_data_command(self, genre, _class, args):
         if not args:
             return []
 
         processed_args = []
         for index in range(len(args)):
             if isinstance(args[index], list):
-                if genre == ProtocolCode.SET_ENCODERS_DRAG and index == 0 and __class__.__name__ == "CobotX":
+                if genre == ProtocolCode.SET_ENCODERS_DRAG and index == 0 and _class == "CobotX":
                     for data in args[index]:
                         byte_value = data.to_bytes(4, byteorder='big', signed=True)
                         res = []
-                        for i in range(4):
+                        for i in range(len(byte_value)):
                            res.append(byte_value[i])
                         processed_args.extend(res)
                 else:
@@ -285,7 +285,14 @@ def _process_data_command(self, genre, args):
                 if isinstance(args[index], str):
                     processed_args.append(ord(args[index]))
                 else:
-                    processed_args.append(args[index])
+                    if genre == ProtocolCode.SET_SERVO_DATA and _class == "CobotX" and index == 2:
+                        byte_value = args[index].to_bytes(2, byteorder='big', signed=True)
+                        res = []
+                        for i in range(len(byte_value)):
+                           res.append(byte_value[i])
+                        processed_args.extend(res)
+                    else:
+                        processed_args.append(args[index])
 
         return processed_args
 
@@ -411,6 +418,7 @@ def write(self, command, method=None):
 
     else:
         self._serial_port.reset_input_buffer()
+        print(command)
         self.log.debug("_write: {}".format([hex(i) for i in command]))
         self._serial_port.write(command)
         self._serial_port.flush()

pymycobot/error.py

@@ -246,9 +246,9 @@ def calibration_parameters(**kwargs):
             elif parameter == 'solution_angle':
                 if value > 90 or value < -90:
                     raise CobotXDataException("The angle range is -90° ~ 90°, but received {}".format(value))
-            elif parameter == 'servo_id':
+            elif parameter == 'address':
                 if value < 20 or value > 22:
-                    raise CobotXDataException("The angle servo_id is 20 ~ 22, but received {}".format(value))
+                    raise CobotXDataException("The angle address is 20 ~ 22, but received {}".format(value))
             elif parameter == 'value':
                 if value < 1 or value > 32000:
                     raise CobotXDataException("The angle value is 1 ~ 32000, but received {}".format(value))

pymycobot/generate.py

@@ -105,7 +105,7 @@ def _mesg(self, genre, *args, **kwargs):
             **kwargs: support `has_reply`
                 has_reply: Whether there is a return value to accept.
         """
-        command_data = self._process_data_command(genre, args)
+        command_data = self._process_data_command(genre, self.__class__.__name__, args)
 
         if genre == 178:
             # 修改wifi端口
@@ -567,7 +567,7 @@ def set_servo_data(self, servo_id, data_id, value):
             data_id: Data address.
             value: 0 - 4096
         """
-        self.calibration_parameters(class_name = self.__class__.__name__, servo_id=servo_id, value=value)
+        self.calibration_parameters(class_name = self.__class__.__name__, id=servo_id, address=data_id, value=value)
         return self._mesg(ProtocolCode.SET_SERVO_DATA, servo_id, data_id, value)
 
     def get_servo_data(self, servo_id, data_id):
@@ -583,7 +583,7 @@ def get_servo_data(self, servo_id, data_id):
         Return:
             values 0 - 4096
         """
-        self.calibration_parameters(class_name = self.__class__.__name__, servo_id=servo_id)
+        self.calibration_parameters(class_name = self.__class__.__name__, id=servo_id, address=data_id)
         return self._mesg(
             ProtocolCode.GET_SERVO_DATA, servo_id, data_id, has_reply=True
         )