Merge branch 'main' of https://github.com/elephantrobotics/pymycobot

Author: anla-xu

pymycobot/mycobotpro630.py

@@ -519,10 +519,16 @@ def _init_hal_gpio(self):
         for i in range(MAX_JOINTS * 2):
             self.g.newpin("U32-in-" + str(i).zfill(2), hal.HAL_U32, hal.HAL_IN)
 
+        # joint limits
         for i in range(MAX_JOINTS):
             self.g.newpin(str(i) + ".min_limit", hal.HAL_FLOAT, hal.HAL_OUT)
             self.g.newpin(str(i) + ".max_limit", hal.HAL_FLOAT, hal.HAL_OUT)
 
+        # axes limits
+        for i in Axis:
+            self.g.newpin(i.name + ".min_limit", hal.HAL_FLOAT, hal.HAL_IN)
+            self.g.newpin(i.name + ".max_limit", hal.HAL_FLOAT, hal.HAL_IN)
+
         self.g.newpin("esp32-btn", hal.HAL_BIT, hal.HAL_IN)
         self.g.newpin("esp32-led", hal.HAL_U32, hal.HAL_OUT)
 
@@ -743,11 +749,6 @@ def start_robot(self, power_on_only=False):
             print("state_on_ok is false")
             return False
 
-        for i in range(6):
-            if self.get_joint_error_mask(Joint(i)) & (1 << 16):
-                self._servo_init_can_output(Joint(i))
-                self._servo_clear_encoder_error(Joint(i))
-
         os.system("halcmd setp or2.0.in1 1")
         return True
 
@@ -1896,9 +1897,10 @@ def get_axis_limits(self):
         """
         self.s.poll()
         limits = []
-        for i, limit in enumerate(self.s.limit):
-            if self.s.axis_mask & (1 << i):
-                limits.append(limit)
+        for i in Axis:
+            limits.append(self.g[i.name + ".min_limit"])
+            limits.append(self.g[i.name + ".max_limit"])
+
         return limits
 
     def set_mdi_mode(self):