修改L20获取温度不正确的问题

Author: hejianxin79

LinkerHand/core/__pycache__/__init__.cpython-38.pyc

@@ -341,11 +341,11 @@ def get_touch(self):
         return [self.xb1[1],self.xb2[1],self.xb3[1],self.xb4[1],self.xb5[1],0] # The last digit is palm, currently not available
 
     def get_matrix_touch(self):
-        self.send_frame(0xb1,[0xc6],sleep=0.01)
-        self.send_frame(0xb2,[0xc6],sleep=0.01)
-        self.send_frame(0xb3,[0xc6],sleep=0.01)
-        self.send_frame(0xb4,[0xc6],sleep=0.01)
-        self.send_frame(0xb5,[0xc6],sleep=0.01)
+        self.send_frame(0xb1,[0xc6],sleep=0.06)
+        self.send_frame(0xb2,[0xc6],sleep=0.06)
+        self.send_frame(0xb3,[0xc6],sleep=0.06)
+        self.send_frame(0xb4,[0xc6],sleep=0.06)
+        self.send_frame(0xb5,[0xc6],sleep=0.06)
         return self.thumb_matrix , self.index_matrix , self.middle_matrix , self.ring_matrix , self.little_matrix
 
     def get_matrix_touch_v2(self):

LinkerHand/core/can/__pycache__/__init__.cpython-38.pyc

@@ -42,7 +42,7 @@ def __init__(self, can_channel='can0', baudrate=1000000, can_id=0x28,yaml=""):
         self.x06, self.x07 = [],[]
         # New pressure sensors
         self.xb0,self.xb1,self.xb2,self.xb3,self.xb4,self.xb5 = [-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5
-        
+        self.x09 = self.x0b = self.x0c = self.x0d = [-1] * 5
         self.thumb_matrix = np.full((12, 6), -1)
         self.index_matrix = np.full((12, 6), -1)
         self.middle_matrix = np.full((12, 6), -1)
@@ -217,6 +217,14 @@ def process_response(self, msg):
                 self.x06 = list(response_data)
             elif frame_type == 0x07:
                 self.x07 = list(response_data)
+            elif frame_type == 0x09:
+                self.x09 = list(response_data)
+            elif frame_type == 0x0B:
+                self.x0b = list(response_data)
+            elif frame_type == 0x0C:
+                self.x0c = list(response_data)
+            elif frame_type == 0x0D:
+                self.x0d = list(response_data)
             elif frame_type == 0x20:
                 d = list(response_data)
                 self.normal_force = [float(i) for i in d] 
@@ -329,9 +337,15 @@ def get_fault(self):
         self.send_command(0x07,[])
         time.sleep(0.01)
         return self.x07
+    
     def get_temperature(self):
-        '''Get motor temperature, not supported for L20'''
-        return [0]* 10
+        '''Get motor temperature'''
+        self.send_command(0x09,[])
+        self.send_command(0x0b,[])
+        self.send_command(0x0c,[])
+        self.send_command(0x0d,[])
+
+        return self.x09+self.x0b+self.x0c+self.x0d
     def clear_faults(self):
         '''Clear motor faults'''
         self.send_command(0x07, [1, 1, 1, 1, 1])

LinkerHand/core/can/__pycache__/linker_hand_l10_can.cpython-312.pyc

@@ -613,8 +613,8 @@ def get_speed(self,j=''):
             l21_speed = self.state_to_cmd(l21_state=speed)
             return l21_speed
 
-    def get_finger_torque(self):
-        return self.finger_torque()
+    # def get_finger_torque(self):
+    #     return self.finger_torque()
     def get_fault(self):
         self.get_thumbn_fault()
         self.get_index_fault()
@@ -663,6 +663,7 @@ def get_finger_torque(self):
 
     def get_torque(self):
         return self.get_finger_torque()
+    
     def get_thumb_touch(self):
         '''Get thumb tactile sensor data'''
         self.send_command(FrameProperty.THUMB_TOUCH,[],sleep_time=0.015)