add set_gservo_round() function

Author: anla-xu

docs/README.md

@@ -92,6 +92,7 @@ We support Python2, Python3.5 or later.
     - [get\_plan\_acceleration](#get_plan_acceleration)
     - [set\_plan\_speed](#set_plan_speed)
     - [set\_plan\_acceleration](#set_plan_acceleration)
+    - [set\_gservo\_round](#set_gservo_round)
     - [get\_servo\_speeds](#get_servo_speeds)
     - [get\_servo\_currents](#get_servo_currents)
     - [get\_servo\_voltages](#get_servo_voltages)
@@ -200,7 +201,7 @@ We support Python2, Python3.5 or later.
     - [set\_pin\_mode(id, pin\_no, pin\_mode)](#set_pin_modeid-pin_no-pin_mode)
     - [set\_plan\_acceleration(id, acceleration)](#set_plan_accelerationid-acceleration)
     - [set\_plan\_speed(id, speed)](#set_plan_speedid-speed)
-    - [set\_pwm\_output(id, channel, frequency, pin\_val)](#set_pwm_outputid-channel-frequency-pin_val)
+    - [set\_pwm\_output()](#set_pwm_output-1)
     - [set\_reference\_frame(id, rftype)](#set_reference_frameid-rftype)
     - [set\_robot\_id(id, new\_id)](#set_robot_idid-new_id)
     - [set\_servo\_calibration(id, servo\_no)](#set_servo_calibrationid-servo_no)
@@ -1050,6 +1051,13 @@ Set command refresh mode
   - `acceleration` (`int`) 0 - 100.
   - `is_linear` (`int`): 0 / 1 (0 ->joint, 1 -> line)
 
+
+### set_gservo_round
+
+- **Prototype**: `set_gservo_round()`
+
+- **Description**: Drive the 9g steering gear clockwise for one revolution.
+
 ### get_servo_speeds
 
 - **Prototype**: `get_servo_speeds()`
@@ -2235,19 +2243,9 @@ Set planning speed
 
   * **speed** (_int_) – (0 ~ 100).
 
-### set_pwm_output(id, channel, frequency, pin_val)
-
-PWM control
-
-* **Parameters**
-
-  * **id** – 1/2 (L/R)
-
-  * **channel** (_int_) – IO number (1 - 5).
-
-  * **frequency** (_int_) – clock frequency (0/1: 0 - 1Mhz 1 - 10Mhz)
+### set_pwm_output()
 
-  * **pin_val** (_int_) – Duty cycle 0 ~ 100: 0 ~ 100%
+Set PWM output
 
 ### set_reference_frame(id, rftype)
 

pymycobot/common.py

@@ -144,6 +144,7 @@ class ProtocolCode(object):
     GET_PLAN_ACCELERATION = 0xD1
     SET_PLAN_SPEED = 0xD2
     SET_PLAN_ACCELERATION = 0xD3
+    SET_GSERVO_ROUND = 0xD4
 
     # Motor status read
     GET_SERVO_SPEED = 0xE1

pymycobot/generate.py

@@ -679,7 +679,7 @@ def set_gripper_state(self, flag, speed):
         """Set gripper switch state
 
         Args:
-            flag  (int): 0 - open, 1 - close
+            flag  (int): 0 - open, 1 - close, 10 - release
             speed (int): 0 ~ 100
         """
         return self._mesg(ProtocolCode.SET_GRIPPER_STATE, flag, speed)
@@ -1024,4 +1024,7 @@ def get_error_information(self):
     def clear_error_information(self):
         """Clear robot error message"""
         return self._mesg(ProtocolCode.CLEAR_ERROR_INFO, has_reply = True)
-        
+    
+    def set_gservo_round(self):
+        """Drive the 9g steering gear clockwise for one revolution"""
+        return self._mesg(ProtocolCode.SET_GSERVO_ROUND)

pymycobot/myarm.py

@@ -108,8 +108,6 @@ def _mesg(self, genre, *args, **kwargs):
                 ProtocolCode.GET_END_TYPE,
                 ProtocolCode.GET_MOVEMENT_TYPE,
                 ProtocolCode.GET_REFERENCE_FRAME,
-                ProtocolCode.GET_JOINT_MIN_ANGLE,
-                ProtocolCode.GET_JOINT_MAX_ANGLE,
                 ProtocolCode.GET_FRESH_MODE,
                 ProtocolCode.GET_GRIPPER_MODE,
                 ProtocolCode.SET_SSID_PWD
@@ -129,6 +127,8 @@ def _mesg(self, genre, *args, **kwargs):
                     return res
             elif genre in [ProtocolCode.GET_SERVO_VOLTAGES]:
                 return [self._int2coord(angle) for angle in res]
+            elif genre in [ProtocolCode.GET_JOINT_MAX_ANGLE, ProtocolCode.GET_JOINT_MIN_ANGLE]:
+                return self._int2coord(res[0])
             else:
                 return res
         return None
@@ -149,7 +149,6 @@ def send_radians(self, radians, speed):
             radians: a list of radian values( List[float]), length 6
             speed: (int )0 ~ 100
         """
-        calibration_parameters(len6=radians, speed=speed)
         degrees = [self._angle2int(radian * (180 / math.pi))
                    for radian in radians]
         return self._mesg(ProtocolCode.SEND_ANGLES, degrees, speed)
@@ -224,13 +223,16 @@ def get_solution_angles(self):
         """Get zero space deflection angle value"""
         return self._mesg(ProtocolCode.GET_SOLUTION_ANGLES, has_reply=True)
 
-    def release_all_servos(self, data):
+    def release_all_servos(self, data=None):
         """Relax all joints
         
         Args:
             data: 1 - Undamping (The default is damping)
         """
-        return self._mesg(ProtocolCode.RELEASE_ALL_SERVOS, data)
+        if data is None:
+            return super().release_all_servos()
+        else:
+            return self._mesg(ProtocolCode.RELEASE_ALL_SERVOS, data)
 
     def get_transpoendr_mode(self):
         """Obtain the configuration information of serial transmission mode