add mybuddy get_servo_speeds() and set_encoders_drag()

Author: anla-xu

docs/README.md

@@ -143,6 +143,7 @@ We support Python2, Python3.5 or later.
     - [get_servo_currents(id)](#get_servo_currentsid)
     - [get_servo_data(id, servo_no, data_id)](#get_servo_dataid-servo_no-data_id)
     - [get_servo_status(id)](#get_servo_statusid)
+    - [get_servo_spees(id)](#get_servo_speesid)
     - [get_servo_temps(id)](#get_servo_tempsid)
     - [get_servo_voltages(id)](#get_servo_voltagesid)
     - [get_speed(id)](#get_speedid)
@@ -183,6 +184,7 @@ We support Python2, Python3.5 or later.
     - [set_encoder(id, joint_id, encoder, speed)](#set_encoderid-joint_id-encoder-speed)
     - [set_encoders(id, encoders, speed)](#set_encodersid-encoders-speed)
     - [set_end_type(id, end)](#set_end_typeid-end)
+    - [set_encoders_drag(id, encoders, speeds)](#set_encoders_dragid-encoders-speeds)
     - [set_free_mode(id, value)](#set_free_modeid-value)
     - [set_fresh_mode(id, mode)](#set_fresh_modeid-mode)
     - [set_gripper_calibration(id)](#set_gripper_calibrationid)
@@ -1579,6 +1581,18 @@ Get joint status
 
     [voltage, sensor, temperature, current, angle, overload], a value of 0 means no error
 
+### get_servo_spees(id)
+
+Get joint speed
+
+* **Parameters**
+
+    **id** – 1/2/ (L/R)
+
+* **Returns**
+
+    list len 6
+
 ### get_servo_temps(id)
 
 Get joint temperature
@@ -2035,6 +2049,15 @@ Set end coordinate system
 
   * **end** – 0 - flange, 1 - tool
 
+### set_encoders_drag(id, encoders, speeds)
+
+Send all encoders and speeds
+
+- **Parameters**
+
+  * **encoders** - (`list`) : encoders list.
+  * **speeds** - Obtained by the get_servo_speeds() method
+
 ### set_free_mode(id, value)
 
 set free mode

pymycobot/Interface.py

@@ -1072,6 +1072,28 @@ def is_collision_on(self):
             1 - open
         """
         return self._mesg(ProtocolCode.IS_COLLISION_ON, 0, has_reply = True)
+    
+    def get_servo_speeds(self, id):
+        """Get joint speed
+        
+        Args:
+            id: 1/2 (L/R)
+        
+        Return: 
+            unit step/s
+        """
+        return self._mesg(ProtocolCode.GET_SERVO_SPEED, id, has_reply=True)
+    
+    def set_encoders_drag(self, id, encoders, speeds):
+        """Send all potential values and speeds
+        
+        Args:
+            id: 1/2 (L/R)
+            encoders: encoder value ,list len 6
+            speeds: from get_servo_speeds()
+        
+        """
+        return self._mesg(ProtocolCode.JOG_INC_COORD, id, encoders, speeds)
 
 
     # def init_iic(self):

pymycobot/__init__.py

@@ -30,7 +30,7 @@
     "Mira"
 ]
 
-__version__ = "2.9.2"
+__version__ = "2.9.3b1"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"