修改已知bug

Author: hejianxin79

LinkerHand/core/can/linker_hand_l10_can.py

@@ -73,7 +73,7 @@ def init_can_bus(self, channel, baudrate):
         if sys.platform == "linux":
             return can.interface.Bus(channel=channel, interface="socketcan", bitrate=baudrate)
         elif sys.platform == "win32":
-            return can.interface.Bus(channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate)
+            return can.interface.Bus(channel=channel, interface='pcan', bitrate=baudrate)
         else:
             raise EnvironmentError("Unsupported platform for CAN interface")
 
@@ -256,9 +256,11 @@ def get_version(self):
         return self.version
     def get_current_status(self):
         '''Get current joint status'''
-        # self.send_frame(0x01,[],sleep=0.005)
-        # self.send_frame(0x04,[],sleep=0.005)
-        return self.x01 + self.x04
+        if self.version[4] > 35:
+            self.send_frame(0x01,[],sleep=0.002)
+            self.send_frame(0x04,[],sleep=0.002)
+        state = self.x01 + self.x04
+        return state
     def get_speed(self):
         '''Get current speed'''
         # self.send_frame(0x05,[],sleep=0.005)
@@ -305,20 +307,28 @@ def get_matrix_touch(self):
 
     def get_torque(self):
         '''Get current motor torque'''
-        self.send_frame(0x02, [])
-        time.sleep(0.002)
-        self.send_frame(0x03,[])
-        #self.set_max_torque_limits(pressures=[0.0], type="get")
-        #time.sleep(0.001)
-        return self.x02+self.x03
+        if self.version[4]< 36:
+            return [-1] * 5
+        else:
+            self.send_frame(0x02, [])
+            time.sleep(0.002)
+            self.send_frame(0x03,[])
+            time.sleep(0.002)
+            return self.x02+self.x03
 
     def get_fault(self):
         '''Get motor fault'''
         self.get_motor_fault_code()
         return self.x35+self.x36
+    
     def get_current(self):
         '''Get current'''
-        return [None]*10
+        return [-1] * 5
+        self.send_frame(0x02, [])
+        time.sleep(0.002)
+        self.send_frame(0x03,[])
+        return self.x02+self.x03
+
     def close_can_interface(self):
         """Stop the CAN communication."""
         self.running = False

LinkerHand/core/can/linker_hand_l7_can.py

@@ -7,7 +7,7 @@
 class LinkerHandL7Can:
     def __init__(self, can_id, can_channel='can0', baudrate=1000000):
         self.x01 = [0] * 7
-        self.x02 = [0] * 7
+        self.x02 = [-1] * 7
         self.x05 = [0] * 7
         self.x33 = [0] * 7
         self.xb0,self.xb1,self.xb2,self.xb3,self.xb4,self.xb5 = [-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5,[-1] * 5
@@ -48,7 +48,7 @@ def init_can_bus(self, channel, baudrate):
         if sys.platform == "linux":
             return can.interface.Bus(channel=channel, interface="socketcan", bitrate=baudrate)
         elif sys.platform == "win32":
-            return can.interface.Bus(channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate)
+            return can.interface.Bus(channel=channel, interface='pcan', bitrate=baudrate)
         else:
             raise EnvironmentError("Unsupported platform for CAN interface")
 
@@ -199,12 +199,14 @@ def process_response(self, msg):
             elif frame_type == 0x64: # L7 version number
                 self.version = list(response_data)
 
+
     def get_version(self):
         self.send_frame(0x64, [],sleep=0.1)
         return self.version
 
     def get_current_status(self):
-        #self.send_frame(0x01, [],sleep=0.01)
+        if self.version[4] > 50:
+            self.send_frame(0x01, [],sleep=0.002)
         return self.x01
 
     def get_speed(self):
@@ -214,9 +216,11 @@ def get_current(self):
         '''Not supported yet.'''
         return [-1] * 7
 
+
     def get_torque(self):
         '''Not supported yet.'''
-        return [-1] * 7
+        self.send_frame(0x2, [],sleep=0.01)
+        return self.x02
 
     def get_touch_type(self):
         '''Get touch type'''

LinkerHand/linker_hand_api.py

@@ -57,6 +57,8 @@ def __init__(self, hand_type="left", hand_joint="L10", modbus = "None",can="can0
             if not self.is_can:
                 ColorMsg(msg=f"{self.can} interface is not open", color="red")
                 sys.exit(1)
+        version = self.get_version()
+        ColorMsg(msg=f"Embedded:{version}", color="green")
 
     # Five-finger movement
     def finger_move(self, pose=[]):

release_2.1.4.txt release_2.1.7.txtrelease_2.1.4.txt renamed to release_2.1.7.txt

@@ -1,3 +1,6 @@
+release_2.1.7
+1、修改已知BUG
+
 release_2.1.4
 1、新增支持L21
 2、新增支持矩阵式压力传感器