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improvement
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3 files changed

+56
-38
lines changed

3 files changed

+56
-38
lines changed

‎demo/gripper.py‎

Lines changed: 11 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -17,21 +17,21 @@ def gripper_test(mc):
1717
# is no need to change the method.
1818
# mc.set_gripper_ini()
1919

20-
print("")
21-
mc.set_gripper_value(2048, 50)
22-
time.sleep(2)
20+
mc.set_encoder(7, 2048)
21+
time.sleep(3)
22+
mc.set_encoder(7, 1300)
23+
time.sleep(3)
2324

24-
print("")
25-
mc.set_gripper_value(1500, 50)
26-
time.sleep(2)
25+
# set_gripper_value has some bug, just can close.
26+
mc.set_gripper_value(2048, 70)
27+
time.sleep(5)
28+
mc.set_gripper_value(1500, 70)
29+
time.sleep(5)
2730

28-
print("")
2931
mc.set_gripper_state(0, 70)
30-
time.sleep(2)
31-
32-
print("")
32+
time.sleep(5)
3333
mc.set_gripper_state(1, 70)
34-
time.sleep(2)
34+
time.sleep(5)
3535

3636
print("")
3737
print(mc.get_gripper_value())

‎pymycobot/__init__.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22

33
__all__ = ["mycobot", "genre"]
44

5-
__version__ = "2.3.6"
5+
__version__ = "2.3.7"
66
__author__ = "Zachary zhang"
77
__email__ = "[email protected]"
88
__git_url__ = "https://github.com/elephantrobotics/pymycobot"

‎pymycobot/mycobot.py‎

Lines changed: 44 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -143,7 +143,7 @@ def __mesg(self, genre, *args, **kwargs):
143143
return res
144144

145145
# Overall status
146-
def version(self): # TODO: test method <11-03-21, yourname> #
146+
def version(self): # TODO: test method <11-03-21, yourname> #
147147
"""Get cobot version
148148
149149
Return:
@@ -169,7 +169,8 @@ def is_power_on(self):
169169
-1: error data
170170
171171
"""
172-
return self._process_single(self.__mesg(Command.IS_POWER_ON, has_reply=True))
172+
return self._process_single(
173+
self.__mesg(Command.IS_POWER_ON, has_reply=True))
173174

174175
def set_free_mode(self):
175176
# self._write('fefe0213fa')
@@ -196,7 +197,8 @@ def send_angle(self, id, degree, speed):
196197
speed (int): 0 ~100
197198
198199
"""
199-
self.__mesg(Command.SEND_ANGLE, id - 1, [self._angle_to_int(degree)], speed)
200+
self.__mesg(Command.SEND_ANGLE, id - 1, [self._angle_to_int(degree)],
201+
speed)
200202

201203
# @check_parameters(Command.SEND_ANGLES)
202204
def send_angles(self, degrees, speed):
@@ -230,7 +232,8 @@ def get_radians(self):
230232
"""
231233
angles = self.__mesg(Command.GET_ANGLES, has_reply=True)
232234
return [
233-
round(self._int_to_angle(angle) * (math.pi / 180), 3) for angle in angles
235+
round(self._int_to_angle(angle) * (math.pi / 180), 3)
236+
for angle in angles
234237
]
235238

236239
def send_radians(self, radians, speed):
@@ -241,7 +244,9 @@ def send_radians(self, radians, speed):
241244
speed (int): 0 ~ 100
242245
243246
"""
244-
degrees = [self._angle_to_int(radian * (180 / math.pi)) for radian in radians]
247+
degrees = [
248+
self._angle_to_int(radian * (180 / math.pi)) for radian in radians
249+
]
245250
return self.__mesg(Command.SEND_ANGLES, degrees, speed)
246251

247252
def get_coords(self):
@@ -272,9 +277,8 @@ def send_coord(self, id, coord, speed):
272277
speed(int):
273278
274279
"""
275-
return self.__mesg(
276-
Command.SEND_COORD, id - 1, [self._coord_to_int(coord)], speed
277-
)
280+
return self.__mesg(Command.SEND_COORD, id - 1,
281+
[self._coord_to_int(coord)], speed)
278282

279283
@check_parameters(Command.SEND_COORDS)
280284
def send_coords(self, coords, speed, mode):
@@ -306,7 +310,8 @@ def pause(self):
306310
self.__mesg(Command.PAUSE)
307311

308312
def is_paused(self):
309-
return self._process_single(self.__mesg(Command.IS_PAUSED, has_reply=True))
313+
return self._process_single(
314+
self.__mesg(Command.IS_PAUSED, has_reply=True))
310315

311316
def resume(self):
312317
self.__mesg(Command.RESUME)
@@ -338,18 +343,22 @@ def is_in_position(self, data, id):
338343
else:
339344
raise Exception("id is not right, please input 0 or 1")
340345

341-
received = self.__mesg(Command.IS_IN_POSITION, data_list, id, has_reply=True)
346+
received = self.__mesg(Command.IS_IN_POSITION,
347+
data_list,
348+
id,
349+
has_reply=True)
342350
return self._process_single(received)
343351

344-
def is_moving(self): # TODO: wait atom finish.
352+
def is_moving(self): # TODO: wait atom finish.
345353
"""
346354
347355
Return:
348356
0 : not moving
349357
1 : is moving
350358
-1: error data
351359
"""
352-
return self._process_single(self.__mesg(Command.IS_MOVING, has_reply=True))
360+
return self._process_single(
361+
self.__mesg(Command.IS_MOVING, has_reply=True))
353362

354363
# JOG mode and operation
355364
@check_parameters(Command.JOG_ANGLE)
@@ -378,17 +387,25 @@ def jog_stop(self):
378387
self.__mesg(Command.JOG_STOP)
379388

380389
def set_encoder(self, joint_id, encoder):
381-
self.__mesg(Command.SET_ENCODER, joint_id, [encoder])
390+
'''Set joint encoder value.
391+
392+
Args:
393+
joint_id: Joint id 1 - 7
394+
encoder: The value of the set encoder.
395+
396+
'''
397+
self.__mesg(Command.SET_ENCODER, joint_id - 1, [encoder])
382398

383399
def get_encoder(self, joint_id):
384-
return self.__mesg(Command.GET_ENCODER, joint_id, has_reply=True)
400+
return self.__mesg(Command.GET_ENCODER, joint_id - 1, has_reply=True)
385401

386402
def set_encoders(self, encoders, sp):
387403
self.__mesg(Command.SET_ENCODERS, encoders, sp)
388404

389405
# Running status and Settings
390406
def get_speed(self):
391-
return self._process_single(self.__mesg(Command.GET_SPEED, has_reply=True))
407+
return self._process_single(
408+
self.__mesg(Command.GET_SPEED, has_reply=True))
392409

393410
@check_parameters(Command.SET_SPEED)
394411
def set_speed(self, speed):
@@ -402,23 +419,27 @@ def set_speed(self, speed):
402419

403420
@check_parameters(Command.GET_JOINT_MIN_ANGLE)
404421
def get_joint_min_angle(self, joint_id):
405-
angle = self.__mesg(Command.GET_JOINT_MIN_ANGLE, joint_id, has_reply=True)
422+
angle = self.__mesg(Command.GET_JOINT_MIN_ANGLE,
423+
joint_id,
424+
has_reply=True)
406425
return self._int_to_angle(angle[0]) if angle else 0
407426

408427
@check_parameters(Command.GET_JOINT_MAX_ANGLE)
409428
def get_joint_max_angle(self, joint_id):
410-
angle = self.__mesg(Command.GET_JOINT_MAX_ANGLE, joint_id, has_reply=True)
429+
angle = self.__mesg(Command.GET_JOINT_MAX_ANGLE,
430+
joint_id,
431+
has_reply=True)
411432
return self._int_to_angle(angle[0]) if angle else 0
412433

413434
# Servo control
414435
@check_parameters(Command.IS_SERVO_ENABLE)
415436
def is_servo_enable(self, servo_id):
416-
return self._process_single(self.__mesg(Command.IS_SERVO_ENABLE, servo_id))
437+
return self._process_single(
438+
self.__mesg(Command.IS_SERVO_ENABLE, servo_id))
417439

418440
def is_all_servo_enable(self):
419441
return self._process_single(
420-
self.__mesg(Command.IS_ALL_SERVO_ENABLE, has_reply=True)
421-
)
442+
self.__mesg(Command.IS_ALL_SERVO_ENABLE, has_reply=True))
422443

423444
@check_parameters(Command.RELEASE_SERVO)
424445
def release_servo(self, servo_id):
@@ -476,8 +497,7 @@ def set_digital_output(self, pin_no, pin_signal):
476497

477498
def get_digital_input(self, pin_no):
478499
return self._process_single(
479-
self.__mesg(Command.GET_DIGITAL_INPUT, pin_no, has_reply=True)
480-
)
500+
self.__mesg(Command.GET_DIGITAL_INPUT, pin_no, has_reply=True))
481501

482502
def set_pwm_mode(self, pin_no, channel):
483503
self.__mesg(Command.SET_PWM_MODE, pin_no, channel)
@@ -487,8 +507,7 @@ def set_pwm_output(self, channel, pin_val):
487507

488508
def get_gripper_value(self):
489509
return self._process_single(
490-
self.__mesg(Command.GET_GRIPPER_VALUE, has_reply=True)
491-
)
510+
self.__mesg(Command.GET_GRIPPER_VALUE, has_reply=True))
492511

493512
@check_parameters(Command.SET_GRIPPER_STATE)
494513
def set_gripper_state(self, flag, speed):
@@ -530,8 +549,7 @@ def is_gripper_moving(self):
530549
531550
"""
532551
return self._process_single(
533-
self.__mesg(Command.IS_GRIPPER_MOVING, has_reply=True)
534-
)
552+
self.__mesg(Command.IS_GRIPPER_MOVING, has_reply=True))
535553

536554
# Baisc
537555
def set_basic_output(self, pin_no, pin_signal):

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