pymycobot 3.5.0.dev1__tar.gz → 3.5.0.dev3__tar.gz

{pymycobot-3.5.0.dev1/pymycobot.egg-info → pymycobot-3.5.0.dev3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev1
+Version: 3.5.0.dev3
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev1 → pymycobot-3.5.0.dev3}/pymycobot/__init__.py

@@ -61,7 +61,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev1" 
+__version__ = "3.5.0dev3" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev1 → pymycobot-3.5.0.dev3}/pymycobot/error.py

@@ -201,17 +201,17 @@ def calibration_parameters(**kwargs):
     robot_limit = {
     "Mercury":{
         "id":[1,2,3,4,5,6,11,12,13],
-        "angles_min":[-178, -74, -180, -178, -20, -180, -60, -140, -120],
-        "angles_max":[178, 130, 178, 10, 178, 273, 180, 0, 190, 120],
-        "coords_min":[-466, -466, -240, -180, -180, -180],
-        "coords_max":[466, 466, 531, 180, 180, 180]
+        "angles_min":[-165, -55, -180, -165, -20, -180, -60, -140, -120],
+        "angles_max":[165, 95, 5, 165, 273, 180, 0, 190, 120],
+        "coords_min":[-441.37, -441.37, -206.52, -180, -180, -180],
+        "coords_max":[441.37, 441.37, 628.02, 180, 180, 180]
     },
     "MercurySocket":{
         "id":[1,2,3,4,5,6,11,12,13],
-        "angles_min":[-178, -74, -180, -178, -20, -180, -60, -140, -120],
-        "angles_max":[178, 130, 178, 10, 178, 273, 180, 0, 190, 120],
-        "coords_min":[-466, -466, -240, -180, -180, -180],
-        "coords_max":[466, 466, 531, 180, 180, 180]
+        "angles_min":[-165, -55, -180, -165, -20, -180, -60, -140, -120],
+        "angles_max":[165, 95, 5, 165, 273, 180, 0, 190, 120],
+        "coords_min":[-441.37, -441.37, -206.52, -180, -180, -180],
+        "coords_max":[441.37, 441.37, 628.02, 180, 180, 180]
     },
     "MyCobot":{
         "id":[1,2,3,4,5,6, 7],

{pymycobot-3.5.0.dev1 → pymycobot-3.5.0.dev3}/pymycobot/mercury_api.py

@@ -39,17 +39,41 @@ class MercuryCommandGenerator(CommandGenerator):
         with self.lock:
             self.write_command.append(genre)
             self._write(self._flatten(real_command))
-        if genre in [ProtocolCode.SEND_ANGLE, ProtocolCode.SEND_ANGLES, ProtocolCode.SEND_COORD, ProtocolCode.SEND_COORDS, ProtocolCode.JOG_ANGLE, ProtocolCode.JOG_COORD, ProtocolCode.JOG_INCREMENT, ProtocolCode.JOG_INCREMENT_COORD, ProtocolCode.COBOTX_SET_SOLUTION_ANGLES]:
+        if genre in [
+        ProtocolCode.SEND_ANGLE,
+        ProtocolCode.SEND_ANGLES,
+        ProtocolCode.SEND_COORD,
+        ProtocolCode.SEND_COORDS,
+        ProtocolCode.JOG_ANGLE,
+        ProtocolCode.JOG_COORD,
+        ProtocolCode.JOG_INCREMENT,
+        ProtocolCode.JOG_INCREMENT_COORD,
+        ProtocolCode.COBOTX_SET_SOLUTION_ANGLES,
+        ProtocolCode.MERCURY_SET_BASE_COORDS,
+        ProtocolCode.MERCURY_JOG_BASE_COORD,
+        ProtocolCode.MERCURY_SET_BASE_COORD]:
             has_reply = True
         if has_reply:
             t = time.time()
-            wait_time = 0.1   
+            wait_time = 0.1
             if genre == ProtocolCode.POWER_ON:
                 wait_time = 8
             elif genre in [ProtocolCode.POWER_OFF, ProtocolCode.RELEASE_ALL_SERVOS, ProtocolCode.FOCUS_ALL_SERVOS,
-                        ProtocolCode.RELEASE_SERVO, ProtocolCode.FOCUS_SERVO, ProtocolCode.STOP]:
+                           ProtocolCode.RELEASE_SERVO, ProtocolCode.FOCUS_SERVO, ProtocolCode.STOP]:
                 wait_time = 3
-            elif genre in [ProtocolCode.SEND_ANGLE, ProtocolCode.SEND_ANGLES, ProtocolCode.SEND_COORD, ProtocolCode.SEND_COORDS, ProtocolCode.JOG_ANGLE, ProtocolCode.JOG_COORD, ProtocolCode.JOG_INCREMENT, ProtocolCode.JOG_INCREMENT_COORD, ProtocolCode.COBOTX_SET_SOLUTION_ANGLES]:
+            elif genre in [
+                ProtocolCode.SEND_ANGLE,
+                ProtocolCode.SEND_ANGLES,
+                ProtocolCode.SEND_COORD,
+                ProtocolCode.SEND_COORDS,
+                ProtocolCode.JOG_ANGLE,
+                ProtocolCode.JOG_COORD,
+                ProtocolCode.JOG_INCREMENT,
+                ProtocolCode.JOG_INCREMENT_COORD,
+                ProtocolCode.COBOTX_SET_SOLUTION_ANGLES,
+                ProtocolCode.MERCURY_SET_BASE_COORDS,
+                ProtocolCode.MERCURY_JOG_BASE_COORD,
+                ProtocolCode.MERCURY_SET_BASE_COORD]:
                 wait_time = 300
                 is_in_position = True
             need_break = False
@@ -846,7 +870,7 @@ class MercuryCommandGenerator(CommandGenerator):
         """
         return self._mesg(ProtocolCode.MERCURY_GET_POS_OVER_SHOOT, has_reply=True)
     
-    def stop(self, deceleration=False):
+    def stop(self, deceleration=0):
         """Robot stops moving
 
         Args:
@@ -855,12 +879,12 @@ class MercuryCommandGenerator(CommandGenerator):
         Returns:
             int: 1 - Stop completion
         """
-        if deceleration:
-            return self._mesg(ProtocolCode.STOP, has_reply=True)
-        else:
+        if deceleration == 1:
             return self._mesg(ProtocolCode.STOP, 1, has_reply=True)
+        else:
+            return self._mesg(ProtocolCode.STOP, has_reply=True)    
         
-    def pause(self, deceleration=False):
+    def pause(self, deceleration=0):
         """Robot pauses movement
 
         Args:
@@ -869,10 +893,11 @@ class MercuryCommandGenerator(CommandGenerator):
         Returns:
             int: 1 - pause completion
         """
-        if deceleration:
-            return self._mesg(ProtocolCode.PAUSE, has_reply=True)
-        else:
+        if deceleration == 1:
             return self._mesg(ProtocolCode.PAUSE, 1, has_reply=True)
+        else:
+            return self._mesg(ProtocolCode.PAUSE, has_reply=True)
+        
         
     def get_modified_version(self):
         return self._mesg(ProtocolCode.ROBOT_VERSION, has_reply=True)

{pymycobot-3.5.0.dev1 → pymycobot-3.5.0.dev3/pymycobot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev1
+Version: 3.5.0.dev3
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev1 → pymycobot-3.5.0.dev3}/pymycobot.egg-info/SOURCES.txt

@@ -35,7 +35,6 @@ pymycobot/mypalletizer.py
 pymycobot/mypalletizersocket.py
 pymycobot/progripper.py
 pymycobot/public.py
-pymycobot/robot_limit.json
 pymycobot/ultraArm.py
 pymycobot/utils.py
 pymycobot.egg-info/PKG-INFO