push code

Author: anla-xu

pymycobot/__init__.py

@@ -46,7 +46,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.6"
+__version__ = "3.1.7b2"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/cobotx.py

@@ -1,6 +1,21 @@
 # coding=utf-8
 from pymycobot import MyArm
+from pymycobot.common import ProtocolCode, write, read
+
 
 class CobotX(MyArm):
     def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
-        super().__init__(port, baudrate, timeout, debug)
+        super().__init__(port, baudrate, timeout, debug)
+        
+    def set_solution_angles(self, angle, speed):
+        """Set zero space deflection angle value
+        
+        Args:
+            angle: Angle of joint 1.
+            speed: 1 - 100.
+        """
+        return self._mesg(ProtocolCode.COBOTX_SET_SOLUTION_ANGLES, [self._angle2int(angle)], speed)
+    
+    def get_solution_angles(self):
+        """Get zero space deflection angle value"""
+        return self._mesg(ProtocolCode.COBOTX_GET_SOLUTION_ANGLES, has_reply=True)

pymycobot/common.py

@@ -56,6 +56,10 @@ class ProtocolCode(object):
     JOG_COORD = 0x32
     JOG_INCREMENT = 0x33
     JOG_STOP = 0x34
+    
+    COBOTX_GET_SOLUTION_ANGLES = 0x35
+    COBOTX_SET_SOLUTION_ANGLES = 0x36
+    
     SET_ENCODER = 0x3A
     GET_ENCODER = 0x3B
     SET_ENCODERS = 0x3C
@@ -148,6 +152,7 @@ class ProtocolCode(object):
     SET_PLAN_SPEED = 0xD2
     SET_PLAN_ACCELERATION = 0xD3
     SET_GSERVO_ROUND = 0xD4
+    GET_ANGLES_COORDS = 0xD5
 
     # Motor status read
     GET_SERVO_SPEED = 0xE1
@@ -284,7 +289,10 @@ def _process_received(self, data, genre, arm=6):
         unique_data = [ProtocolCode.GET_BASIC_INPUT, ProtocolCode.GET_DIGITAL_INPUT]
 
         if cmd_id in unique_data:
-            data_pos = header_i + 5
+            if arm == 12:
+                data_pos = header_i + 6
+            else:
+                data_pos = header_i + 5
             data_len -= 1
         else:
             if arm == 6:

pymycobot/elephantrobot.py

@@ -253,6 +253,10 @@ def assign_variable(self, var_name, var_value):
     def get_variable(self, var_name):
         command = 'get_variable("' + str(var_name) + '")\n'
         return self.send_command(command)
+    
+    def jog_relative(self, joint_id, angle, speed):
+        command = 'SendJogIncrement("' + str(var_name) + '")\n'
+        return self.send_command(command)
 
 
 if __name__ == "__main__":

pymycobot/generate.py

@@ -1053,4 +1053,7 @@ def set_communicate_mode(self, mode):
         Args:
             mode: 0 - Turn off transparent transmission，1 - Open transparent transmission
         """
-        return self._mesg(ProtocolCode.SET_COMMUNICATE_MODE, mode)
+        return self._mesg(ProtocolCode.SET_COMMUNICATE_MODE, mode)
+    
+    def get_angles_coords(self):
+        return self._mesg(ProtocolCode.GET_ANGLES_COORDS, has_reply = True)

pymycobot/myarm.py

@@ -129,6 +129,16 @@ def _mesg(self, genre, *args, **kwargs):
                 return [self._int2coord(angle) for angle in res]
             elif genre in [ProtocolCode.GET_JOINT_MAX_ANGLE, ProtocolCode.GET_JOINT_MIN_ANGLE]:
                 return self._int2coord(res[0])
+            elif genre == ProtocolCode.GET_ANGLES_COORDS:
+                r = []
+                for index in range(len(res)):
+                    if index < 7:
+                        r.append(self._int2angle(res[index]))
+                    elif index < 10:
+                        r.append(self._int2coord(res[index]))
+                    else:
+                        r.append(self._int2angle(res[index]))
+                return r
             else:
                 return res
         return None
@@ -234,15 +244,15 @@ def release_all_servos(self, data=None):
         else:
             return self._mesg(ProtocolCode.RELEASE_ALL_SERVOS, data)
 
-    def get_transpoendr_mode(self):
+    def get_transponder_mode(self):
         """Obtain the configuration information of serial transmission mode
         
         Return:
             mode: 0 - 1 - 2
         """
         return self._mesg(ProtocolCode.SET_SSID_PWD, has_reply=True)
 
-    def set_transpoendr_mode(self, mode):
+    def set_transponder_mode(self, mode):
         """Set serial port transmission mode
         
         Args:
@@ -267,4 +277,34 @@ def set_color(self, r, g, b):
             g: Green
             b: Blue
         """
-        return self._mesg(ProtocolCode.SET_COLOR_MYARM, 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)
+
+        Args:
+            data: A data list, angles or coords.
+                    for mycobot: len 6.
+                    for mypalletizer: len 4
+            id: 1 - coords, 0 - angles
+
+        Return:
+            1 - True\n
+            0 - False\n
+            -1 - Error
+        """
+        if id == 1:
+            # self.calibration_parameters(coords=data)
+            data_list = []
+            for idx in range(3):
+                data_list.append(self._coord2int(data[idx]))
+            for idx in range(3, 6):
+                data_list.append(self._angle2int(data[idx]))
+        elif id == 0:
+            # self.calibration_parameters(degrees=data)
+            data_list = [self._angle2int(i) for i in data]
+        else:
+            raise Exception("id is not right, please input 0 or 1")
+        return self._mesg(ProtocolCode.IS_IN_POSITION, id, data_list, has_reply=True)
+    
+    

pymycobot/mycobot.py

@@ -131,6 +131,16 @@ def _mesg(self, genre, *args, **kwargs):
                 return self._int2coord(res[0])
             elif genre in [ProtocolCode.GET_BASIC_VERSION, ProtocolCode.SOFTWARE_VERSION]:
                 return self._int2coord(self._process_single(res))
+            elif genre == ProtocolCode.GET_ANGLES_COORDS:
+                r = []
+                for index in range(len(res)):
+                    if index < 6:
+                        r.append(self._int2angle(res[index]))
+                    elif index < 9:
+                        r.append(self._int2coord(res[index]))
+                    else:
+                        r.append(self._int2angle(res[index]))
+                return r
             else:
                 return res
         return None
@@ -168,6 +178,7 @@ def sync_send_angles(self, degrees, speed, timeout=7):
         self.send_angles(degrees, speed)
         while time.time() - t < timeout:
             f = self.is_in_position(degrees, 0)
+            print(f)
             if f == 1:
                 break
             time.sleep(0.1)

pymycobot/mycobotsocket.py

@@ -59,7 +59,7 @@ def __init__(self, ip, netport=9000):
         self.calibration_parameters = calibration_parameters
         self.SERVER_IP = ip
         self.SERVER_PORT = netport
-        self.rasp = True
+        self.rasp = False
         self.sock = self.connect_socket()
 
     def connect_socket(self):

pymycobot/mypalletizer.py

@@ -165,6 +165,16 @@ def _mesg(self, genre, *args, **kwargs):
                 return self._int2angle(res[0]) if res else 0
             elif genre in [ProtocolCode.GET_BASIC_VERSION, ProtocolCode.SOFTWARE_VERSION]:
                 return self._int2coord(self._process_single(res))
+            elif genre == ProtocolCode.GET_ANGLES_COORDS:
+                r = []
+                for index in range(len(res)):
+                    if index < 4:
+                        r.append(self._int2angle(res[index]))
+                    elif index < 7:
+                        r.append(self._int2coord(res[index]))
+                    else:
+                        r.append(self._int2angle(res[index]))
+                return r
             else:
                 return res
         return None