release v3.1.6

Author: anla-xu

pymycobot/__init__.py

@@ -19,6 +19,7 @@
 from pymycobot.mypalletizersocket import MyPalletizerSocket
 from pymycobot.myarm import MyArm
 from pymycobot.elephantrobot import ElephantRobot
+from pymycobot.cobotx import CobotX
 
 __all__ = [
     "MyCobot",
@@ -36,15 +37,16 @@
     "MyPalletizerSocket",
     "MechArm",
     "MyArm",
-    "ElephantRobot"
+    "ElephantRobot",
+    "CobotX"
 ]
 
 
 if sys.platform == "linux":
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.5"
+__version__ = "3.1.6"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/cobotx.py

@@ -0,0 +1,6 @@
+# coding=utf-8
+from pymycobot import MyArm
+
+class CobotX(MyArm):
+    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
+        super().__init__(port, baudrate, timeout, debug)

pymycobot/common.py

@@ -95,6 +95,7 @@ class ProtocolCode(object):
     SET_GRIPPER_CALIBRATION = 0x68
     IS_GRIPPER_MOVING = 0x69
     SET_COLOR = 0x6A
+    SET_COLOR_MYARM = 0x70
     SET_ELETRIC_GRIPPER = 0x6B
     INIT_ELETRIC_GRIPPER = 0x6C
     SET_GRIPPER_MODE = 0x6D
@@ -382,6 +383,7 @@ def write(self, command, method=None):
                 data = b""
         return data
     else:
+        # with self.lock:
         self.log.debug("_write: {}".format([hex(i) for i in command]))
         self._serial_port.write(command)
         self._serial_port.flush()

pymycobot/myarm.py

@@ -157,15 +157,15 @@ def sync_send_angles(self, degrees, speed, timeout=7):
         """Send the angle in synchronous state and return when the target point is reached
             
         Args:
-            degrees: a list of degree values(List[float]), length 6.
+            degrees: a list of degree values(List[float]), length 7.
             speed: (int) 0 ~ 100
             timeout: default 7s.
         """
         t = time.time()
         self.send_angles(degrees, speed)
         while time.time() - t < timeout:
             f = self.is_in_position(degrees, 0)
-            if f:
+            if f == 1:
                 break
             time.sleep(0.1)
         return self
@@ -182,7 +182,7 @@ def sync_send_coords(self, coords, speed, mode, timeout=7):
         t = time.time()
         self.send_coords(coords, speed, mode)
         while time.time() - t < timeout:
-            if self.is_in_position(coords, 1):
+            if self.is_in_position(coords, 1) == 1:
                 break
             time.sleep(0.1)
         return self
@@ -258,4 +258,13 @@ def close(self):
 
     def open(self):
         self._serial_port.open()
-        
+        
+    def set_color(self, r, g, b):
+        """Set the color of the LED
+        
+        Args:
+            r: Red
+            g: Green
+            b: Blue
+        """
+        return self._mesg(ProtocolCode.SET_COLOR_MYARM, r, g, b)

pymycobot/mycobot.py

@@ -168,7 +168,7 @@ def sync_send_angles(self, degrees, speed, timeout=7):
         self.send_angles(degrees, speed)
         while time.time() - t < timeout:
             f = self.is_in_position(degrees, 0)
-            if f:
+            if f == 1:
                 break
             time.sleep(0.1)
         return self
@@ -185,7 +185,7 @@ def sync_send_coords(self, coords, speed, mode, timeout=7):
         t = time.time()
         self.send_coords(coords, speed, mode)
         while time.time() - t < timeout:
-            if self.is_in_position(coords, 1):
+            if self.is_in_position(coords, 1) == 1:
                 break
             time.sleep(0.1)
         return self