fix bug

Author: anla-xu

pymycobot/mercury.py

@@ -143,17 +143,28 @@ def _mesg(self, genre, *args, **kwargs):
                 elif genre in [ProtocolCode.COBOTX_GET_ANGLE, ProtocolCode.COBOTX_GET_SOLUTION_ANGLES]:
                         return self._int2angle(res[0])
                 elif genre == ProtocolCode.MERCURY_ROBOT_STATUS:
-                    i = 9
-                    for i in range(9, len(res)):
-                        if res[i] != 0:
-                            data = bin(res[i])[2:]
-                            res[i] = []
-                            while len(data) != 16:
-                                data = "0"+data
-                            for j in range(16):
-                                if data[j] != "0":
-                                    res[i].append(15-j)
-                    return res
+                    if self._serial_port.port == "/dev/ttyTHS0":
+                        i = 9
+                        for i in range(9, len(res)):
+                            if res[i] != 0:
+                                data = bin(res[i])[2:]
+                                res[i] = []
+                                while len(data) != 16:
+                                    data = "0"+data
+                                for j in range(16):
+                                    if data[j] != "0":
+                                        res[i].append(15-j)
+                        return res
+                    else:
+                        for i in range(10, len(res)):
+                            if res[i] != 0:
+                                data = bin(res[i])[2:]
+                                res[i] = []
+                                while len(data) != 16:
+                                    data = "0"+data
+                                for j in range(16):
+                                    if data[j] != "0":
+                                        res[i].append(15-j)
                 else:
                     return res
             return None