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Optimize MyCobot280 RDK X5 interface parameter error prompt (#156)
* add MyCobot 280 X5PI API * add MyCobot 280 X5 PI doc * Fix MyCobot 280 X5 Pi doc errors * add MyCobot 280 X5 PI sokcet sever&client * MyCobot 280 X5 PI server compatible with python2 * rename MyCobot280x5pi to MyCobot280RDKX5 * fix MyArmMControl bugs * fix MyArmC bugs * fix myArmM&C demo bug * update M&C demo * fix MyCobot280 rdkx5 bug * fix MyArmM&C bugs * fix bugs * fix bug * fix ThreeHand api bug * Fixed the issue that Pro630 could not read data * fix MyArmM bug * MyArmM&C adds get_joints_coord interface * fix Pro630 bug * fix Pro630 bugs * Fixed the pro630 socket communication bug * Optimize MyCobot280 RDK X5 interface parameter error prompt --------- Co-authored-by: Mrkun5018 <[email protected]>
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‎pymycobot/error.py

Lines changed: 111 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -278,6 +278,8 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
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elif parameter == "pin_no":
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if "Mercury" in class_name:
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check_0_or_1(parameter, value, [1, 2, 3, 4, 5, 6], value_type, exception_class, int)
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def calibration_parameters(**kwargs):
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# with open(os.path.dirname(os.path.abspath(__file__))+"/robot_limit.json") as f:
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robot_limit = RobotLimit.robot_limit
@@ -1481,6 +1483,115 @@ def calibration_parameters(**kwargs):
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if not 1 <= s <= 100:
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raise ValueError(
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f"speed value not right, should be 1 ~ 100, the received speed is {value}")
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elif class_name in ("MyCobot280RDK-X5", ):
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robotic_limit_table = RobotLimit.robot_limit["MyCobot280RDK-X5"]
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kwargs.pop("class_name", None)
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for parameter, value in kwargs.items():
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if value is None:
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continue
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if parameter in ("servo_id", "joint_id", "coord_id"):
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servo_ids = robot_limit[class_name][parameter]
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if value not in servo_ids:
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raise ValueError(f"The {parameter} not right, should be in {servo_ids}, but received {value}.")
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elif parameter in ('angle', 'coord'):
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if parameter == "angle":
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_id = kwargs.get("joint_id")
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else:
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_id = kwargs.get("coord_id")
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index = _id - 1
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minimum_position = robotic_limit_table[f"{parameter}s_min"][index]
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maximum_position = robotic_limit_table[f"{parameter}s_max"][index]
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if not minimum_position <= value <= maximum_position:
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raise ValueError(
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f"The {parameter} not right, should be in {minimum_position} ~ {maximum_position}, but received {value}."
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)
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elif parameter in ('angles', 'coords'):
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if len(value) != 6:
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raise ValueError(f"The length of `{parameter}` must be 6.")
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minimum_position = robotic_limit_table[f"{parameter}_min"]
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maximum_position = robotic_limit_table[f"{parameter}_max"]
1517+
for index, angle in enumerate(value):
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min_pos = minimum_position[index]
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max_pos = maximum_position[index]
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if not min_pos <= angle <= max_pos:
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raise ValueError(
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f"The {parameter} not right, should be in {min_pos} ~ {max_pos}, but received {angle}."
1523+
)
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1525+
elif parameter == "speed":
1526+
if not 1 <= value <= 100:
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raise ValueError(f"speed value not right, should be 1 ~ 100, the received speed is {value}")
1528+
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elif parameter == "speeds":
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if len(value) != 6:
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raise ValueError("The length of `speeds` must be 6.")
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for speed in value:
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if not 1 <= speed <= 100:
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raise ValueError(f"speed value not right, should be 1 ~ 100, the received speed is {speed}")
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elif parameter == 'encoder':
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if not 0 <= value <= 4096:
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raise ValueError(f"The range of encoder is 0 ~ 4096, but the received value is {value}")
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elif parameter == 'encoders':
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if not len(value) == 6:
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raise ValueError(f"The length of encoders is 6, but the received value is {len(value)}")
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for encoder in value:
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if not 0 <= encoder <= 4096:
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raise ValueError(f"The range of encoder is 0 ~ 4096, but the received value is {encoder}")
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elif parameter == "drag_speeds":
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if len(value) != 6:
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raise ValueError("The length of `speeds` must be 6.")
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for speed in value:
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if not 1 <= speed <= 10000:
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raise ValueError(f"speed value not right, should be 1 ~ 10000, the received speed is {speed}")
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elif parameter in (
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"monitor_state", "fresh_mode", "vision_mode", "move_type", "pin_signal", "transponder_mode",
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"reference_frame_type", "end_type", "direction", "coord_mode"
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):
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if value not in (0, 1):
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raise ValueError(f"The {parameter} not right, should be in (0, 1), but received {value}.")
1562+
1563+
elif parameter == "gripper_state":
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if value not in (0, 1, 254):
1565+
raise ValueError(f"The {parameter} not right, should be in (0, 1, 254), but received {value}.")
1566+
1567+
elif parameter == "gripper_speed":
1568+
if not 0 <= value <= 100:
1569+
raise ValueError(f"The gripper_speed value not right, should be 0 ~ 100, the received speed is {value}")
1570+
elif parameter == "gripper_torque":
1571+
if not 150 <= value <= 980:
1572+
raise ValueError(f"The gripper_torque value not right, should be 150 ~ 980, the received speed is {value}")
1573+
elif parameter == "gripper_type":
1574+
gripper_types = (1, 2, 3, 4)
1575+
if value not in gripper_types:
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raise ValueError(f"The gripper_type not right, should be in {gripper_types}, but received {value}.")
1577+
elif parameter == "is_torque":
1578+
torque_gripper_types = (0, 1)
1579+
if value not in torque_gripper_types:
1580+
raise ValueError(f"The is_torque not right, should be in {torque_gripper_types}, but received {value}.")
1581+
elif parameter == "value":
1582+
if not 0 <= value <= 4096:
1583+
raise ValueError(f"The value not right, should be 0 ~ 4096, but received {value}.")
1584+
elif parameter == "protect_current":
1585+
if not 1 <= value <= 500:
1586+
raise ValueError(f"The protect_current not right, should be 1 ~ 500, but received {value}.")
1587+
elif parameter == "end_direction":
1588+
if value not in (1, 2, 3):
1589+
raise ValueError(f"The end_direction not right, should be in (1, 2, 3), but received {value}.")
1590+
1591+
elif parameter == "color":
1592+
for color in value:
1593+
if not 0 <= color <= 255:
1594+
raise ValueError(f"The color not right, should be 0 ~ 255, but received {color}.")
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def restrict_serial_port(func):

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