release v2.9.7

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v2.9.7 (2022-11-14)
+
+- release v2.9.7
+- Add MechArm class: Separate mecharm from mycobot
+- Fix known bug
+
 ## v2.9.6 (2022-9-13)
 
 - release v2.9.6

docs/README.md

@@ -10,7 +10,7 @@ We support Python2, Python3.5 or later.
 <!-- vim-markdown-toc GFM -->
 
 - [pymycobot](#pymycobot)
-- [MyCobot / Mypalletizer](#mycobot--mypalletizer)
+- [MyCobot / Mypalletizer / MechArm](#mycobot--mypalletizer--mecharm)
   - [Overall status](#overall-status)
     - [power_on](#power_on)
     - [power_off](#power_off)
@@ -229,7 +229,7 @@ We support Python2, Python3.5 or later.
 <!-- vim-markdown-toc -->
 </details>
 
-# MyCobot / Mypalletizer
+# MyCobot / Mypalletizer / MechArm
 
 **Import to your project**:
 
@@ -239,6 +239,15 @@ from pymycobot import MyCobot
 
 # for mypalletizer
 # from pymycobot import MyPalletizer
+
+# for MechArm
+# from pymycobot import MechArm
+
+mc = MyCobot("com10",115200)
+# mc = MyPalletizer("com10",115200)
+# mc = MechArm("com10",115200)
+
+print(mc.get_angles())
 ```
 
 > Note: If no parameter is given, there is no parameter; if no return value is given, there is no return value
@@ -381,7 +390,7 @@ Set command refresh mode
 
 - **Parameters**:
 
-  - `radians`: a list of radian value(`List[float]`), length 6.
+  - `radians`: a list of radian value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
 
 - **Example**
@@ -434,7 +443,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `coords`: a list of coords value(`List[float]`), length 6.
+  - `coords`: a list of coords value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
   - `mode`: (`int`): `0` - angular, `1` - linear
 
@@ -457,7 +466,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `degrees`: a list of degree value(`List[float]`), length 6.
+  - `degrees`: a list of degree value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
   - `timeout`: default 7s.
 
@@ -482,7 +491,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `data`: A data list, angles or coords, length 6.
+  - `data`: A data list, angles or coords.
   - `flag`: Tag the data type, `0` - angles, `1` - coords.
 
 - **Returns**
@@ -593,7 +602,7 @@ Set command refresh mode
 - **Description**: Set the six joints of the manipulator to execute synchronously to the specified position.
 
 - **Parameters**:
-  - `encoders`: A encoder list, length 6.
+  - `encoders`: A encoder list.
   - `sp`: speed 0 - 100
 
 ### get_encoders

pymycobot/Interface.py

@@ -742,7 +742,7 @@ def set_gripper_value(self, id, value, speed):
             value (int): 0 ~ 100
             speed (int): 0 - 100
         """
-        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, id, value)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, id, value, speed)
 
     def set_gripper_calibration(self, id):
         """Set the current position to zero, set current position value is `2048`.

pymycobot/__init__.py

@@ -2,20 +2,22 @@
 
 from __future__ import absolute_import
 import datetime
+import sys
 
 from pymycobot.generate import MyCobotCommandGenerator
 from pymycobot.Interface import MyBuddyCommandGenerator
 from pymycobot.mycobot import MyCobot
 from pymycobot.mybuddy import MyBuddy
+from pymycobot.mecharm import MechArm
 from pymycobot.mypalletizer import MyPalletizer
 from pymycobot.mycobotsocket import MyCobotSocket
 from pymycobot.genre import Angle, Coord
 from pymycobot import utils
 from pymycobot.mybuddysocket import MyBuddySocket
 from pymycobot.mira import Mira
 from pymycobot.mybuddybluetooth import MyBuddyBlueTooth
-from pymycobot.mybuddyemoticon import MyBuddyEmoticon
 from pymycobot.mypalletizersocket import MyPalletizerSocket
+    
 
 __all__ = [
     "MyCobot",
@@ -30,11 +32,16 @@
     "MyBuddySocket",
     "MyBuddyBlueTooth",
     "Mira",
-    "MyBuddyEmoticon",
-    "MyPalletizerSocket"
+    "MyPalletizerSocket",
+    "MechArm"
 ]
 
-__version__ = "2.9.7b3"
+
+if sys.platform == "linux":
+    from pymycobot.mybuddyemoticon import MyBuddyEmoticon
+    __all__.append("MyBuddyEmoticon")
+
+__version__ = "2.9.7"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -383,7 +383,6 @@ def read(self, genre):
         wait_time = 1
     while True and time.time() - t < wait_time:
         data = self._serial_port.read()
-        # print("1:",data)
         k += 1
         if data_len == 1 and data == b"\xfa":
             datas += data

pymycobot/mecharm.py

@@ -0,0 +1,6 @@
+# coding=utf-8
+from pymycobot import MyCobot
+
+class MechArm(MyCobot):
+    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
+        super().__init__(port, baudrate, timeout, debug)

pymycobot/mira.py

@@ -1,7 +1,5 @@
 # coding: utf-8
-from ctypes.wintypes import SIZE
 import time
-from tkinter import E
 from pymycobot.common import ProtocolCode
 import math