save

Author: anla-xu

demo/drag_trial_teaching.py

@@ -133,7 +133,7 @@ def _loop():
                 idx_ = i % len_
                 i += 1
                 self.mc.set_encoders_drag(self.record_list[idx_][0],self.record_list[idx_][1])
-                self.mc.set_encoder(7, self.record_list[idx_])
+                self.mc.set_encoder(7, self.record_list[idx_][2])
                 if idx_ == 0:
                     time.sleep(3)
                 time.sleep(self.record_list[idx_][-1])

pymycobot/__init__.py

@@ -48,7 +48,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.8"
+__version__ = "3.1.9b1"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/error.py

@@ -168,16 +168,16 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
                 data_type = type(data)
                 check_value_type(parameter, data_type, exception_class, int)
                 if data < 0 or data > 3400:
-                    raise exception_class("The range of encoder is 0 ~ 3400, but the received value is {}".format(data))
+                    raise exception_class("The range of speed is 0 ~ 3400, but the received value is {}".format(data))
         elif parameter in ['servo_id_pdi', 'encode_id']:
             check_value_type(parameter, value_type, exception_class, int)
-            if  "MyCobot" in class_name or "MechArm" in class_name:
-                if value < 1 or value > 6:
-                        raise exception_class("The range of id is 1 ~ 6, but the received is {}".format(value))
-            elif "MyPalletizer" in class_name:
+            # if  "MyCobot" in class_name or "MechArm" in class_name:
+            #     if value < 1 or value > 6:
+            #             raise exception_class("The range of id is 1 ~ 6, but the received is {}".format(value))
+            if "MyPalletizer" in class_name:
                 if value < 1 or value > 4:
                         raise exception_class("The range of id is 1 ~ 4, but the received is {}".format(value))
-            elif "MyArm" in class_name:
+            elif "MyArm" in class_name or "MyCobot" in class_name or "MechArm" in class_name:
                 if value < 1 or value > 7:
                         raise exception_class("The range of id is 1 ~ 7, but the received is {}".format(value))
 
@@ -193,7 +193,10 @@ def calibration_parameters(**kwargs):
                 check_id(value, robot_limit[class_name][parameter], CobotXDataException)
             elif parameter == 'angle':
                 id = kwargs.get('id', None)
-                index = robot_limit[class_name]['id'][id-1] - 1
+                if id in [11,12,13]:
+                    index = robot_limit[class_name]['id'][id-4] - 4
+                else:
+                    index = robot_limit[class_name]['id'][id-1] - 1
                 if value < robot_limit[class_name]["angles_min"][index] or value > robot_limit[class_name]["angles_max"][index]:
                     raise CobotXDataException(
                         "angle value not right, should be {0} ~ {1}, but received {2}".format(
@@ -243,6 +246,13 @@ def calibration_parameters(**kwargs):
             elif parameter == 'solution_angle':
                 if value > 90 or value < -90:
                     raise CobotXDataException("The angle range is -90° ~ 90°, but received {}".format(value))
+            elif parameter == 'servo_id':
+                if value < 20 or value > 22:
+                    raise CobotXDataException("The angle servo_id is 20 ~ 22, but received {}".format(value))
+            elif parameter == 'value':
+                if value < 1 or value > 32000:
+                    raise CobotXDataException("The angle value is 1 ~ 32000, but received {}".format(value))
+                    
     elif class_name == "MyAgv":
         for parameter in parameter_list[1:]:
             value = kwargs.get(parameter, None)

pymycobot/generate.py

@@ -567,7 +567,7 @@ def set_servo_data(self, servo_id, data_id, value):
             data_id: Data address.
             value: 0 - 4096
         """
-        self.calibration_parameters(class_name = self.__class__.__name__, id=servo_id, value=value)
+        self.calibration_parameters(class_name = self.__class__.__name__, servo_id=servo_id, value=value)
         return self._mesg(ProtocolCode.SET_SERVO_DATA, servo_id, data_id, value)
 
     def get_servo_data(self, servo_id, data_id):
@@ -583,7 +583,7 @@ def get_servo_data(self, servo_id, data_id):
         Return:
             values 0 - 4096
         """
-        self.calibration_parameters(class_name = self.__class__.__name__, id=servo_id)
+        self.calibration_parameters(class_name = self.__class__.__name__, servo_id=servo_id)
         return self._mesg(
             ProtocolCode.GET_SERVO_DATA, servo_id, data_id, has_reply=True
         )

pymycobot/robot_limit.json

@@ -1,15 +1,15 @@
 {
     "CobotX":{
         "id":[1,2,3,4,5,6,7,11,12,13],
-        "angles_min":[-165, -100, -165, -175, -165, -1, -165],
-        "angles_max":[165, 100, 165, 1, 165, 215, 165],
+        "angles_min":[-165, -100, -165, -175, -165, -1, -165, 0, -140, -120],
+        "angles_max":[165, 100, 165, 1, 165, 215, 165, 50, 190, 120],
         "coords_min":[-466, -466, -290, -180, -180, -180],
         "coords_max":[466, 466, 641, 180, 180, 180]
     },
     "CobotXSocket":{
         "id":[1,2,3,4,5,6,7,11,12,13],
-        "angles_min":[-165, -100, -165, -175, -165, -1, -165],
-        "angles_max":[165, 100, 165, 1, 165, 215, 165],
+        "angles_min":[-165, -100, -165, -175, -165, -1, -165, 0, -140, -120],
+        "angles_max":[165, 100, 165, 1, 165, 215, 165, 50, 190, 120],
         "coords_min":[-466, -466, -290, -180, -180, -180],
         "coords_max":[466, 466, 641, 180, 180, 180]
     },