update

Author: anla-xu

pymycobot/mercury.py

@@ -131,6 +131,18 @@ def _mesg(self, genre, *args, **kwargs):
                     return r
                 elif genre in [ProtocolCode.COBOTX_GET_ANGLE, ProtocolCode.COBOTX_GET_SOLUTION_ANGLES]:
                         return self._int2angle(res[0])
+                elif genre == ProtocolCode.MERCURY_ROBOT_STATUS:
+                    i = 9
+                    for i in range(9, len(res)):
+                        if res[i] != 0:
+                            data = bin(res[i])[2:]
+                            res[i] = []
+                            while len(data) != 16:
+                                data = "0"+data
+                            for j in range(16):
+                                if data[j] != "0":
+                                    res[i].append(15-j)
+                    return res
                 else:
                     return res
             return None

pymycobot/mercurysocket.py

@@ -130,6 +130,18 @@ def _mesg(self, genre, *args, **kwargs):
                     return r
                 elif genre in [ProtocolCode.COBOTX_GET_ANGLE, ProtocolCode.COBOTX_GET_SOLUTION_ANGLES]:
                         return self._int2angle(res[0])
+                elif genre == ProtocolCode.MERCURY_ROBOT_STATUS:
+                    i = 9
+                    for i in range(9, len(res)):
+                        if res[i] != 0:
+                            data = bin(res[i])[2:]
+                            res[i] = []
+                            while len(data) != 16:
+                                data = "0"+data
+                            for j in range(16):
+                                if data[j] != "0":
+                                    res[i].append(15-j)
+                    return res
                 else:
                     return res
             return None
@@ -353,7 +365,99 @@ def is_gripper_moving(self, mode=None):
             return self._mesg(ProtocolCode.IS_GRIPPER_MOVING, mode, has_reply=True)
         return self._mesg(ProtocolCode.IS_GRIPPER_MOVING, has_reply=True)
 
-    def turn_right(self):
-        pass
+    def set_gripper_enabled(self, value):
+        """Pro adaptive gripper enable setting
+
+        Args:
+            value (int): 
+                1 : enable
+                0 : release
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, value=value)
+        return self._mesg(ProtocolCode.SET_GRIPPER_ENABLED, value)
+    
+    def is_btn_clicked(self):
+        """Check if the end button has been pressed.
+        
+        Return:
+            1 : pressed.
+            0 : not pressed.
+        """
+        return self._mesg(ProtocolCode.IS_BTN_CLICKED, has_reply=True)
+        
+    def tool_serial_restore(self):
+        """485 factory reset
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_RESTORE)
+    
+    def tool_serial_ready(self):
+        """Set up 485 communication
+        
+        Return:
+            0 : not set
+            1 : Setup completed
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_READY, has_reply=True)
+    
+    def tool_serial_available(self):
+        """Read 485 buffer length
+        
+        Return:
+            485 buffer length available for reading
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_AVAILABLE, has_reply=True)
+    
+    def tool_serial_read_data(self, data_len):
+        """Read fixed length data. Before reading, read the buffer length first. After reading, the data will be cleared
+
+        Args:
+            data_len (int): The number of bytes to be read, range 1 ~ 45
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, data_len=data_len)
+        return self._mesg(ProtocolCode.TOOL_SERIAL_READ_DATA, data_len, has_reply=True)
+    
+    def tool_serial_write_data(self, command):
+        """End 485 sends data， Data length range is 1 ~ 45 bytes
+
+        Args:
+            command : data instructions
+            
+        Return:
+            number of bytes received
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_WRITE_DATA, command, has_reply=True)
+    
+    def tool_serial_flush(self):
+        """Clear 485 buffer
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_FLUSH)
+    
+    def tool_serial_peek(self):
+        """View the first data in the buffer, the data will not be cleared
+        
+        Return:
+            1 byte data
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_PEEK, has_reply=True)
+    
+    def tool_serial_set_baud(self, baud=115200):
+        """Set 485 baud rate, default 115200
+
+        Args:
+            baud (int): baud rate
+        """
+        return self._mesg(ProtocolCode.TOOL_SERIAL_SET_BAUD, baud)
+    
+    def tool_serial_set_timeout(self, max_time):
+        """Set 485 timeout in milliseconds, default 30ms
+
+        Args:
+            max_time (int): timeout
+        """
+        self.calibration_parameters(class_name=self.__class__.__name__, max_time=max_time)
+        return self._mesg(ProtocolCode.TOOL_SERIAL_SET_TIME_OUT, max_time)
+
+    def get_robot_status(self):
+        return self._mesg(ProtocolCode.MERCURY_ROBOT_STATUS, has_reply=True)