pymycobot 3.5.0.dev11__tar.gz → 3.5.0.dev12__tar.gz

{pymycobot-3.5.0.dev11/pymycobot.egg-info → pymycobot-3.5.0.dev12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev11
+Version: 3.5.0.dev12
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev11 → pymycobot-3.5.0.dev12}/pymycobot/__init__.py

@@ -87,7 +87,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev11" 
+__version__ = "3.5.0dev12" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev11 → pymycobot-3.5.0.dev12}/pymycobot/error.py

@@ -93,16 +93,26 @@ def check_value_type(parameter, value_type, exception_class, _type):
             "The acceptable parameter {} should be an {}, but the received {}".format(parameter, _type, value_type))
 
 
-def check_coords(value, robot_limit, class_name, exception_class):
+def check_coords(value, robot_limit, class_name, exception_class, serial_port=None):
     if not isinstance(value, list):
         raise exception_class("`coords` must be a list.")
     if len(value) != 6:
         raise exception_class("The length of `coords` must be 6.")
+    if serial_port:
+        if serial_port == "/dev/left_arm":
+            min_coord = robot_limit[class_name]["left_coords_min"]
+            max_coord = robot_limit[class_name]["left_coords_max"]
+        elif serial_port == "/dev/right_arm":
+            min_coord = robot_limit[class_name]["right_coords_min"]
+            max_coord = robot_limit[class_name]["right_coords_max"]
+        else:
+            min_coord = robot_limit[class_name]["coords_min"]
+            max_coord = robot_limit[class_name]["coords_max"]
     for idx, coord in enumerate(value):
-        if not robot_limit[class_name]["coords_min"][idx] <= coord <= robot_limit[class_name]["coords_max"][idx]:
+        if not min_coord[idx] <= coord <= max_coord[idx]:
             raise exception_class(
                 "Has invalid coord value, error on index {0}. received {3} .but angle should be {1} ~ {2}.".format(
-                    idx, robot_limit[class_name]["coords_min"][idx], robot_limit[class_name]["coords_max"][idx], coord
+                    idx, min_coord, max_coord, coord
                 )
             )
 
@@ -316,15 +326,26 @@ def calibration_parameters(**kwargs):
 
             elif parameter == 'coord':
                 index = kwargs.get('coord_id', None) - 1
-                if value < robot_limit[class_name]["coords_min"][index] or value > robot_limit[class_name]["coords_max"][index]:
+                serial_port = kwargs.get('serial_port', None)
+                if serial_port == "/dev/left_arm":
+                    min_coord = robot_limit[class_name]["left_coords_min"][index]
+                    max_coord = robot_limit[class_name]["left_coords_max"][index]
+                elif serial_port == "/dev/right_arm":
+                    min_coord = robot_limit[class_name]["right_coords_min"][index]
+                    max_coord = robot_limit[class_name]["right_coords_max"][index]
+                else:
+                    min_coord = robot_limit[class_name]["coords_min"][index]
+                    max_coord = robot_limit[class_name]["coords_max"][index]
+                if value < min_coord or value > min_coord:
                     raise MercuryDataException(
                         "The coord value of {} exceeds the limit, and the limit range is {} ~ {}".format(
-                            value, robot_limit[class_name]["coords_min"][index], robot_limit[class_name]["coords_max"][index]
+                            value, min_coord, max_coord
                         )
                     )
             elif parameter == 'coords':
+                serial_port = kwargs.get('serial_port', None)
                 check_coords(value, robot_limit, class_name,
-                             MercuryDataException)
+                             MercuryDataException, serial_port)
 
             elif parameter == 'speed':
                 if not 1 <= value <= 100:

{pymycobot-3.5.0.dev11 → pymycobot-3.5.0.dev12}/pymycobot/mercury_api.py

@@ -167,7 +167,8 @@ class MercuryCommandGenerator(DataProcessor):
                 ProtocolCode.JOG_BASE_INCREMENT_COORD,
                 ProtocolCode.WRITE_MOVE_C,
                 ProtocolCode.JOG_RPY,
-                ProtocolCode.WRITE_MOVE_C_R] and self.sync_mode:
+                ProtocolCode.WRITE_MOVE_C_R,
+                ProtocolCode.MERCURY_DRAG_TECH_EXECUTE] and self.sync_mode:
             wait_time = 300
             is_in_position = True
             big_wait_time = True
@@ -984,7 +985,7 @@ class MercuryCommandGenerator(DataProcessor):
             speed (int): 1 ~ 100
         """
         self.calibration_parameters(
-            class_name=self.__class__.__name__, coord_id=coord_id, coord=coord, speed=speed)
+            class_name=self.__class__.__name__, coord_id=coord_id, coord=coord, speed=speed, serial_port=self._serial_port.port)
         if coord_id < 4:
             coord = self._coord2int(coord)
         else:
@@ -1000,7 +1001,7 @@ class MercuryCommandGenerator(DataProcessor):
             speed (int): 1 ~ 100
         """
         self.calibration_parameters(
-            class_name=self.__class__.__name__, coords=coords, speed=speed)
+            class_name=self.__class__.__name__, coords=coords, speed=speed, serial_port=self._serial_port.port)
         coord_list = []
         for idx in range(3):
             coord_list.append(self._coord2int(coords[idx]))

{pymycobot-3.5.0.dev11 → pymycobot-3.5.0.dev12}/pymycobot/robot_info.py

@@ -231,14 +231,22 @@ class RobotLimit:
             "angles_min":[-165, -55, -173, -165, -20, -180, -60, -138],
             "angles_max":[165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
-            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180]
+            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "left_coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
+            "left_coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "right_coords_min":[-351.11, -645.91, -262.91, -180, -180, -180],
+            "right_coords_max":[566.92, 272.12, 655.13, 180, 180, 180]
         },
         "MercurySocket":{
             "joint_id":[1,2,3,4,5,6,11,12],
             "angles_min":[-165, -55, -173, -165, -20, -180, -60, -138],
             "angles_max":[165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
-            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180]
+            "coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "left_coords_min":[-351.11, -272.12, -262.91, -180, -180, -180],
+            "left_coords_max":[566.92, 645.91, 655.13, 180, 180, 180],
+            "right_coords_min":[-351.11, -645.91, -262.91, -180, -180, -180],
+            "right_coords_max":[566.92, 272.12, 655.13, 180, 180, 180]
         },
         "MyCobot": {
             "id": [1, 2, 3, 4, 5, 6, 7],

{pymycobot-3.5.0.dev11 → pymycobot-3.5.0.dev12/pymycobot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev11
+Version: 3.5.0.dev12
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics