push code

.vscode/settings.json

@@ -16,5 +16,6 @@
         "yview",
         "zhang"
     ],
-    "restructuredtext.confPath": ""
+    "restructuredtext.confPath": "",
+    "python.formatting.provider": "black"
 }

CHANGELOG.md

@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v2.7.5 (2022-4-29)
+
+- release v2.7.5
+- Fixed an issue where the M5 would restart when the serial port was initialized for the first time.
+- New interface: `get_tool_reference`,`set_tool_reference`,`set_world_reference`,`get_world_reference`,`set_reference_frame`,`get_reference_frame`,`set_movement_type`,`get_movement_type`,`set_end_type`,`get_end_type`,`get_plan_speed`,`get_plan_acceleration`,`set_plan_speed`,`set_plan_acceleration`,`get_servo_speeds`,`get_servo_currents`,`get_servo_voltages`,`get_servo_status`,`get_servo_temps`.
+
 ## v2.7.4 (2021-12-15)
 
 - release v2.7.4

demo/350servo_info.py

@@ -0,0 +1,34 @@
+# encoding=utf-8
+import matplotlib.pyplot as plt
+import matplotlib.font_manager as font_manager
+from pymycobot import MyCobot
+
+mc = MyCobot("COM12", 115200)
+
+POINTS = 7
+sin_list = [0] * (POINTS -1)
+indx = 0
+
+fig, ax = plt.subplots()
+ax.set_ylim([0, 3250])
+ax.set_xlim([1, 6])
+ax.set_autoscale_on(False)
+ax.set_xticks(range(0, 3250, 500))
+ax.set_yticks(range(0, 11, 1))
+ax.grid(True)
+
+line_sin, = ax.plot([i for i in range(1,POINTS)], sin_list, label='Current', color='cornflowerblue')
+ax.legend(loc='upper center', ncol=4, prop=font_manager.FontProperties(size=10))
+
+def sin_output(ax):
+    global sin_list, line_sin
+    sin_list = sin_list[1:] + mc.get_servo_currents() # get current
+    # print(sin_list)
+    line_sin.set_ydata(sin_list)
+    ax.draw_artist(line_sin)
+    ax.figure.canvas.draw()
+
+timer = fig.canvas.new_timer(interval=100)
+timer.add_callback(sin_output, ax)
+timer.start()
+plt.show()

pymycobot/__init__.py

@@ -20,7 +20,7 @@
     "MyCobotSocket"
 ]
 
-__version__ = "2.7.4"
+__version__ = "2.7.5"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/common.py

@@ -261,8 +261,6 @@ def write(self, command, method=None):
         self.log.debug("_write: {}".format(command))
         self._serial_port.write(command)
         self._serial_port.flush()
-        time.sleep(0.05)
-
 
 def read(self):
     time.sleep(0.1)

pymycobot/generate.py

@@ -187,7 +187,9 @@ def send_angle(self, id, degree, speed):
         """Send one degree of joint to robot arm.
 
         Args:
-            id : Joint id(genre.Angle), int 1-6
+            id : Joint id(genre.Angle)\n
+                    For mycobot: int 1-6.\n
+                    For mypalletizer: int 1-4.
             degree : degree value(float)(about -170 ~ 170).
             speed : (int) 0 ~ 100
         """
@@ -199,9 +201,9 @@ def send_angles(self, degrees, speed):
         """Send the degrees of all joints to robot arm.
 
         Args:
-            degrees : a list of degree values(List[float]), length 6.
-                example for mycobot [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-                example for mypalletizer [0.0, 0.0, 0.0, 0.0]
+            degrees: a list of degree values(List[float]), length 6 or 4.\n
+                        for mycobot: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0].\n
+                        for mypalletizer: [0.0, 0.0, 0.0, 0.0]
             speed : (int) 0 ~ 100
         """
         self.calibration_parameters(degrees=degrees, speed=speed)
@@ -213,16 +215,18 @@ def get_coords(self):
 
         Return:
             list : A float list of coord 
-                for mycobot -[x, y, z, rx, ry, rz],
-                for mypalletizer -[x, y, z, θ]
+                for mycobot: [x, y, z, rx, ry, rz]\n
+                for mypalletizer: [x, y, z, θ]
         """
         return self._mesg(ProtocolCode.GET_COORDS, has_reply=True)
 
     def send_coord(self, id, coord, speed):
         """Send one coord to robot arm. 
 
         Args:
-            id(int) : coord id(genre.Coord), 1 ~ 6
+            id(int) : coord id(genre.Coord)\n
+                        For mycobot: int 1-6.\n
+                        For mypalletizer: int 1-4.
             coord(float) : coord value, mm
             speed(int) : 0 ~ 100
         """
@@ -234,9 +238,9 @@ def send_coords(self, coords, speed, mode):
         """Send all coords to robot arm.
 
         Args:
-            coords: a list of coords value(List[float]), length 6.
-                for mycobot :[x(mm), y, z, rx(angle), ry, rz]
-                for mypalletizer: [x, y, z, θ]
+            coords: a list of coords value(List[float]), length 6 or 4.
+                        for mycobot :[x(mm), y, z, rx(angle), ry, rz]\n
+                        for mypalletizer: [x, y, z, θ]
             speed : (int) 0 ~ 100
             mode : (int) 0 - angluar, 1 - linear
         """
@@ -290,7 +294,9 @@ def jog_angle(self, joint_id, direction, speed):
         """Jog control angle.
 
         Args:
-            joint_id: (int) 1 ~ 6.
+            joint_id:
+                    For mycobot: int 1-6.\n
+                    For mypalletizer: int 1-4.
             direction: 0 - decrease, 1 - increase
             speed: int (0 - 100)
         """
@@ -300,7 +306,9 @@ def jog_coord(self, coord_id, direction, speed):
         """Jog control coord.
 
         Args:
-            coord_id: (int) 1 ~ 6
+            coord_id:
+                    For mycobot: int 1-6.\n
+                    For mypalletizer: int 1-4.
             direction: 0 - decrease, 1 - increase
             speed: int (0 - 100)
         """
@@ -493,17 +501,19 @@ def release_servo(self, servo_id):
         """Power off designated servo
 
         Args:
-            for mycobot: servo_id: 1 - 6
-            for mypalletizer: servo_id: 1 - 4
+            servo_id:
+                for mycobot: 1 - 6.\n
+                for mypalletizer: 1 - 4
         """
         return self._mesg(ProtocolCode.RELEASE_SERVO, servo_id)
 
     def focus_servo(self, servo_id):
         """Power on designated servo
 
         Args:
-            for mycobot: servo_id: 1 - 6
-            for mypalletizer: servo_id: 1 - 4
+            servo_id:
+                for mycobot: 1 - 6\n
+                for mypalletizer: 1 - 4
         """
         return self._mesg(ProtocolCode.FOCUS_SERVO, servo_id)
 
@@ -774,11 +784,17 @@ def get_servo_speeds(self):
         return self._mesg(ProtocolCode.GET_SERVO_SPEED, has_reply=True)
 
     def get_servo_currents(self):
-        """Get joint current (Only for mycobot 350)"""
+        """Get joint current (Only for mycobot 350)
+        
+        return: mA
+        """
         return self._mesg(ProtocolCode.GET_SERVO_CURRENTS, has_reply=True)
 
     def get_servo_voltages(self):
-        """Get joint voltages (Only for mycobot 350)"""
+        """Get joint voltages (Only for mycobot 350)
+        
+        return: volts
+        """
         return self._mesg(ProtocolCode.GET_SERVO_VOLTAGES, has_reply=True)
 
     def get_servo_status(self):
@@ -793,7 +809,9 @@ def set_joint_max(self, id, angle):
         """Set the joint maximum angle
         
         Args:
-            id: 1 - 6
+            id: 
+                For mycobot: int 1-6.\n
+                For mypalletizer: int 1-4.
             angle: 0 ~ 180 
         """
         return self._mesg(ProtocolCode.SET_JOINT_MAX, id, angle)
@@ -802,7 +820,9 @@ def set_joint_min(self, id, angle):
         """Set the joint minimum angle
         
         Args:
-            id: 1 - 6
+            id: 
+                For mycobot: int 1-6.\n
+                For mypalletizer: int 1-4.
             angle: 0 ~ 180 
         """
         return self._mesg(ProtocolCode.SET_JOINT_MIN, id, angle)

pymycobot/mycobot.py

@@ -121,7 +121,8 @@ def _mesg(self, genre, *args, **kwargs):
                     return r
                 else:
                     return res
-
+            elif genre in [ProtocolCode.GET_SERVO_VOLTAGES]:
+                return [self._int2coord(angle) for angle in res]
             else:
                 return res
         return None