pymycobot 3.5.0.dev6__tar.gz → 3.5.0.dev8__tar.gz

{pymycobot-3.5.0.dev6/pymycobot.egg-info → pymycobot-3.5.0.dev8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev6
+Version: 3.5.0.dev8
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics

{pymycobot-3.5.0.dev6 → pymycobot-3.5.0.dev8}/pymycobot/__init__.py

@@ -61,7 +61,7 @@ if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.5.0dev6" 
+__version__ = "3.5.0dev8" 
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

{pymycobot-3.5.0.dev6 → pymycobot-3.5.0.dev8}/pymycobot/error.py

@@ -237,16 +237,16 @@ def public_check(parameter_list, kwargs, robot_limit, class_name, exception_clas
 def calibration_parameters(**kwargs):
     robot_limit = {
         "Mercury": {
-            "id": [1, 2, 3, 4, 5, 6, 11, 12, 13],
-            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138, -118],
-            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188, 118],
+            "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": [-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": [-165, -55, -173, -165, -20, -180, -60, -138, -118],
-            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188, 118],
+            "angles_min": [-165, -55, -173, -165, -20, -180, -60, -138],
+            "angles_max": [165, 95, 5, 165, 265, 180, 0, 188],
             "coords_min": [-441.37, -441.37, -206.52, -180, -180, -180],
             "coords_max": [441.37, 441.37, 628.02, 180, 180, 180]
         },
@@ -346,10 +346,11 @@ def calibration_parameters(**kwargs):
                          [parameter], MercuryDataException)
             elif parameter == 'angle':
                 id = kwargs.get('id', None)
-                if id in [11, 12, 13]:
-                    index = robot_limit[class_name]['id'][id-4] - 4
+                if id in [11, 12]:
+                    index = id - 5
                 else:
                     index = robot_limit[class_name]['id'][id-1] - 1
+                print(index)
                 if value < robot_limit[class_name]["angles_min"][index] or value > robot_limit[class_name]["angles_max"][index]:
                     raise MercuryDataException(
                         "angle value not right, should be {0} ~ {1}, but received {2}".format(

{pymycobot-3.5.0.dev6 → pymycobot-3.5.0.dev8}/pymycobot/mercury_api.py

@@ -61,21 +61,21 @@ class MercuryCommandGenerator(CommandGenerator):
             elif genre in [ProtocolCode.POWER_OFF, ProtocolCode.RELEASE_ALL_SERVOS, ProtocolCode.FOCUS_ALL_SERVOS,
                            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,
-            #     ProtocolCode.MERCURY_SET_BASE_COORDS,
-            #     ProtocolCode.MERCURY_JOG_BASE_COORD,
-            #     ProtocolCode.MERCURY_SET_BASE_COORD]:
-            #     wait_time = 300
-            #     is_in_position = True
+            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
             data = None
             while True and time.time() - t < wait_time:
@@ -437,9 +437,8 @@ class MercuryCommandGenerator(CommandGenerator):
                         for d in datas:
                             command_log += hex(d)[2:] + " "
                         self.log.debug("_read : {}".format(command_log))
-                    if res != []:
-                        with self.lock:
-                            self.read_command.append(res)
+                    with self.lock:
+                        self.read_command.append(res)
                 # return datas
         
     def set_solution_angles(self, angle, speed):

{pymycobot-3.5.0.dev6 → pymycobot-3.5.0.dev8/pymycobot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: pymycobot
-Version: 3.5.0.dev6
+Version: 3.5.0.dev8
 Summary: Python API for serial communication of MyCobot.
 Home-page: https://github.com/elephantrobotics/pymycobot
 Author: Elephantrobotics