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Modify the coordinate interface #162

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Merged
merged 10 commits into from
May 29, 2025
Merged

Modify the coordinate interface #162

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040fcaa
添加外骨骼api
d1h1r1 Apr 8, 2025
c4ee4c6
Merge branch 'main' of https://github.com/d1h1r1/pymycobot
d1h1r1 Apr 8, 2025
394f8a0
外骨骼serial、socket库分开，添加读固件接口
d1h1r1 Apr 23, 2025
97dcef7
Merge branch 'elephantrobotics:main' into main
d1h1r1 Apr 23, 2025
89d5df3
Merge branch 'main' of https://github.com/d1h1r1/pymycobot
d1h1r1 Apr 23, 2025
42d6e1d
Merge branch 'elephantrobotics:main' into main
d1h1r1 May 13, 2025
aa41733
Add the exoskeleton to set the atom dot matrix interface
d1h1r1 May 14, 2025
7030829
Merge branch 'elephantrobotics:main' into main
d1h1r1 May 27, 2025
65171e4
Modify the coordinate interface
d1h1r1 May 27, 2025
5e0150a
Merge branch 'main' of https://github.com/d1h1r1/pymycobot
d1h1r1 May 27, 2025
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6 changes: 3 additions & 3 deletions pymycobot/exoskeleton.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ def _parse_data(self, data):
data_h = data[34 + j * 4: 36 + j * 4]
data_l = data[36 + j * 4: 38 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
parsed_data.append(round(coord / 100, 2))
parsed_data.append(round(coord / 10, 2))
return parsed_data

def _parse_all_data(self, data):
Expand Down Expand Up @@ -71,13 +71,13 @@ def _parse_all_data(self, data):
data_h = data[68 + j * 4: 70 + j * 4]
data_l = data[70 + j * 4: 72 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
left_data.append(round(coord / 100, 2))
left_data.append(round(coord / 10, 2))

for j in range(6):
data_h = data[92 + j * 4: 94 + j * 4]
data_l = data[94 + j * 4: 96 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
right_data.append(round(coord / 100, 2))
right_data.append(round(coord / 10, 2))
else:
for i in range(7):
data_h = data[0 + i * 4: 2 + i * 4]
Expand Down
6 changes: 3 additions & 3 deletions pymycobot/exoskeletonsocket.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ def _parse_data(self, data):
data_h = data[34 + j * 4: 36 + j * 4]
data_l = data[36 + j * 4: 38 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
parsed_data.append(round(coord / 100, 2))
parsed_data.append(round(coord / 10, 2))
return parsed_data

def _parse_all_data(self, data):
Expand Down Expand Up @@ -84,13 +84,13 @@ def _parse_all_data(self, data):
data_h = data[68 + j * 4: 70 + j * 4]
data_l = data[70 + j * 4: 72 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
left_data.append(round(coord / 100, 2))
left_data.append(round(coord / 10, 2))

for j in range(6):
data_h = data[92 + j * 4: 94 + j * 4]
data_l = data[94 + j * 4: 96 + j * 4]
coord = hex_to_signed_decimal(data_h + data_l, 16)
right_data.append(round(coord / 100, 2))
right_data.append(round(coord / 10, 2))
else:
for i in range(7):
data_h = data[0 + i * 4: 2 + i * 4]
Expand Down