release v3.1.7

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,15 @@
 # ChangeLog for pymycobot
 
+## v3.1.7 (2023-8-8)
+
+- release v3.1.6
+- Fix myArm interface error
+
+## v3.1.6 (2023-6-19)
+
+- release v3.1.6
+- Update synchronization control interface
+
 ## v3.1.5 (2023-07-06)
 
 - release v3.1.5

docs/README.md

@@ -111,8 +111,8 @@ We support Python2, Python3.5 or later.
     - [get\_solution\_angles](#get_solution_angles)
     - [set\_solution\_angles](#set_solution_angles)
     - [joint\_brake](#joint_brake)
-    - [get\_transpoendr\_mode](#get_transpoendr_mode)
-    - [set\_transpoendr\_mode](#set_transpoendr_mode)
+    - [get\_transponder\_mode](#get_transponder_mode)
+    - [set\_transponder\_mode](#set_transponder_mode)
   - [Raspberry pi -- GPIO](#raspberry-pi----gpio)
     - [gpio\_init](#gpio_init)
     - [gpio\_output](#gpio_output)
@@ -1253,9 +1253,9 @@ Set the terminal atom io status
 
   - `joint_id`: 1 - 7.
 
-### get_transpoendr_mode
+### get_transponder_mode
 
-- **Prototype**: `get_transpoendr_mode()`
+- **Prototype**: `get_transponder_mode()`
 
 - **Description**: Obtain the configuration information of serial transmission mode.(`This interface is only applicable to MyArm`)
 
@@ -1264,9 +1264,9 @@ Set the terminal atom io status
   - `1`: Turn on transparent transmission, verify all data
   - `2`: Turn on transparent transmission, only verify communication forwarding mode configuration information (default is 0)
 
-### set_transpoendr_mode
+### set_transponder_mode
 
-- **Prototype**: `set_transpoendr_mode(mode)`
+- **Prototype**: `set_transponder_mode(mode)`
 
 - **Description**: Set serial port transmission mode.(`This interface is only applicable to MyArm`)
 

pymycobot/__init__.py

@@ -46,7 +46,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.7b2"
+__version__ = "3.1.7"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/generate.py

@@ -478,7 +478,7 @@ def set_speed(self, speed):
         """Set speed value
 
         Args:
-            speed (int) - 0 ~ 100
+            speed (int): 0 ~ 100
         """
         # self.calibration_parameters(speed=speed)
         return self._mesg(ProtocolCode.SET_SPEED, speed)
@@ -490,6 +490,7 @@ def get_feed_override(self):
         )
     """
     def get_acceleration(self):
+        """get acceleration"""
         return self._process_single(
             self._mesg(ProtocolCode.GET_ACCELERATION, has_reply=True)
         )

pymycobot/myarm.py

@@ -156,7 +156,7 @@ def send_radians(self, radians, speed):
         """Send the radians of all joints to robot arm
 
         Args:
-            radians: a list of radian values( List[float]), length 6
+            radians: a list of radian values( List[float]), length 7
             speed: (int )0 ~ 100
         """
         degrees = [self._angle2int(radian * (180 / math.pi))
@@ -180,7 +180,7 @@ def sync_send_angles(self, degrees, speed, timeout=7):
             time.sleep(0.1)
         return self
 
-    def sync_send_coords(self, coords, speed, mode, timeout=7):
+    def sync_send_coords(self, coords, speed, mode=0, timeout=7):
         """Send the coord in synchronous state and return when the target point is reached
             
         Args:
@@ -280,12 +280,10 @@ def set_color(self, r, g, b):
         return self._mesg(ProtocolCode.SET_COLOR_MYARM, r, g, b)
 
     def is_in_position(self, data, id=0):
-        """Judge whether in the position. (mypalletizer 340 does not have this interface)
+        """Judge whether in the position.
 
         Args:
             data: A data list, angles or coords.
-                    for mycobot: len 6.
-                    for mypalletizer: len 4
             id: 1 - coords, 0 - angles
 
         Return:

pymycobot/mycobot.py

@@ -184,13 +184,13 @@ def sync_send_angles(self, degrees, speed, timeout=7):
             time.sleep(0.1)
         return self
 
-    def sync_send_coords(self, coords, speed, mode, timeout=7):
+    def sync_send_coords(self, coords, speed, mode=0, timeout=7):
         """Send the coord in synchronous state and return when the target point is reached
             
         Args:
             coords: a list of coord values(List[float])
             speed: (int) 0 ~ 100
-            mode: (int): 0 - angular, 1 - linear
+            mode: (int): 0 - angular（default）, 1 - linear
             timeout: default 7s.
         """
         t = time.time()