Merge branch 'main' of http://github.com/elephantrobotics/pymycobot

Author: wxy6655

CHANGELOG.md

@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v2.9.3 (2022-8-31)
+
+- release v2.9.3
+- fix jog_increment() bug
+- Fixed an incorrect description of the set_fresh_mode interface
+
 ## v2.9.2 (2022-8-8)
 
 - release v2.9.2

docs/README.md

@@ -19,6 +19,7 @@ We support Python2, Python3.5 or later.
     - [is_controller_connected](#is_controller_connected)
   - [MDI mode and operation](#mdi-mode-and-operation)
     - [get_angles](#get_angles)
+    - [set_fresh_mode(mode)](#set_fresh_modemode)
     - [send_angle](#send_angle)
     - [send_angles()](#send_angles)
     - [get_radians](#get_radians)
@@ -286,6 +287,16 @@ from pymycobot import MyCobot
 
 - **Returns**: `list`: A float list of all degree.
 
+### set_fresh_mode(mode)
+
+Set command refresh mode
+
+* **Parameters**
+
+  * **mode** – int
+    1 - Always execute the latest command first.
+    0 - Execute instructions sequentially in the form of a queue.
+
 ### send_angle
 
 - **Prototype**: `send_angles(id, degree, speed)`
@@ -2077,8 +2088,8 @@ Set command refresh mode
   * **id** – 1/2 (L/R).
 
   * **mode** – int
-    0 - Always execute the latest command first.
-    1 - Execute instructions sequentially in the form of a queue.
+    1 - Always execute the latest command first.
+    0 - Execute instructions sequentially in the form of a queue.
 
 ### set_gripper_calibration(id)
 

pymycobot/generate.py

@@ -373,7 +373,7 @@ def jog_increment(self, joint_id, increment, speed):
             increment: 
             speed: int (0 - 100)
         """
-        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, increment, speed)
+        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, [self._angle2int(increment)], speed)
 
     def jog_stop(self):
         """Stop jog moving"""
@@ -944,8 +944,8 @@ def set_fresh_mode(self, mode):   # TODO 22-5-19 need test
         
         Args:
             mode: int.
-                0 - Always execute the latest command first.
-                1 - Execute instructions sequentially in the form of a queue.
+                1 - Always execute the latest command first.
+                0 - Execute instructions sequentially in the form of a queue.
         """
         return self._mesg(ProtocolCode.SET_FRESH_MODE, mode)
 

pymycobot/mira.py

@@ -14,7 +14,12 @@ def __init__(self, port, baudrate="115200", timeout=0.1):
             debug    : whether show debug info
         """
         import serial
-        self._serial_port = serial.Serial(port, baudrate, timeout=timeout)
+        self._serial_port = serial.Serial()
+        self._serial_port.port = port
+        self._serial_port.baudrate = baudrate
+        self._serial_port.timeout = timeout
+        self._serial_port.rts = False
+        self._serial_port.open()
 
     def _read(self):
         time.sleep(0.1)