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

Author: anla-xu

demo/mybuddy_send_angles_auto.py

@@ -0,0 +1,6 @@
+from pymycobot.mybuddy import MyBuddy
+
+mb = MyBuddy('COM4',115200)
+
+mb.send_angles_auto(1,[0,0,0,0,0,0],1)
+

pymycobot/Interface.py

@@ -203,6 +203,18 @@ def send_angles(self, id, degrees, speed):
         degrees = [self._angle2int(degree) for degree in degrees]
         return self._mesg(ProtocolCode.SEND_ANGLES, id, degrees, speed)
 
+    def send_angles_auto(self, id, degrees, _time):
+        """Send all angles to the robotic arm
+
+        Args:
+            id: 1/2 (L/R).
+            degrees: [angle_list] len 6
+            _time: 1 - 100
+        """
+        # self.calibration_parameters(degrees=degrees, speed=speed)
+        degrees = [self._angle2int(degree) for degree in degrees]
+        return self._mesg(ProtocolCode.SEND_ANGLES_AUTO, id, degrees, _time)
+
     def get_coords(self, id):
         """Get the coordinates of the robotic arm
         

pymycobot/__init__.py

@@ -30,7 +30,7 @@
     "Mira"
 ]
 
-__version__ = "2.9.3b1"
+__version__ = "2.9.3b1.333"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -43,6 +43,7 @@ class ProtocolCode(object):
     IS_MOVING = 0x2B
     GET_ANGLE = 0x2C
     GET_COORD = 0x2D
+    SEND_ANGLES_AUTO = 0x2E
 
     # JOG MODE AND OPERATION
     JOG_ANGLE = 0x30

setup.py

@@ -82,6 +82,7 @@
         "Programming Language :: Python :: 3.7",
         "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
         "License :: OSI Approved :: MIT License",
         "Operating System :: OS Independent",
     ],