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pymycobot::get_angles may fail depending on current angle condition #28
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Would you mind uploading your codes ? We tried send_angles() and get_angles() multiple times , didn't have this issue , so if you don't mind, we'd like to test it with your code , thanks ~ |
I am not used to using GitHub so I attach changed code here. ---- CODE:start ----
---- CODE:end ---- Each line is divided by chunk of command or response. |
P.S. |
When you get empty array, have you check Atom's status ? Is it 'yes' or 'no' ? and have you chosen ' minirobot -> transponder ' ? |
Maybe you can upload your code which you used to control mycobot , we'd like to test it with your code , thanks ~ |
I have not yet checked Atom's status. I am not sure which API is available to see Atom's status. But even if this issue happened mycobot can be controlled from pymycobot API; changing angle of joints, focus on or off servos. I believe this issue is not problem of Atom or Base. It will be handling problem of received data in pymycobot or something. |
Are you using mycobot_280_M5 ? In transponder, press button A , it will return Atom's status in Basic. |
Hi, I face the same with MyCobot Pro 320 M5. CodeYou can try following command to check the bug: Then you can find following log result:
The related code is here: Other tests:
Firmware version:
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get_angles()returns an empty array on the client while working with myCobot 280pi. |
I have also had this issue of receiving an empty array when calling |
Describe the bug
get_angles() may fail.
To Reproduce
changes angles using pymycobot API.
and then call get_angles().
It will empty array as result.
Desktop (please complete the following information):
Python 3.8.7
Additional context
I looked into this issue and found strange behavior as following.
When host acquires angles, host receives response from MyCobot contains servo's response and M5atom response.
Servo's response terms with check sum and it is 0xfe.
Response from M5stom starts with 0xfe, 0xfe two bytes.
At this time. DataProcessor::_process_received() makes mistake on finding header of response of M5atom.
I quick fixed by taking a look data in after header if it is same as 'genre'. If it is not same, it continues from next byte sequence.
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