bug

Author: hejianxin79

LinkerHand/__pycache__/linker_hand_api.cpython-38.pyc

@@ -258,8 +258,13 @@ def get_temperature(self):
 
     def get_touch_type(self):
         '''Get touch type'''
+        self.send_frame(0xb0,[],sleep=0.03)
         self.send_frame(0xb1,[],sleep=0.03)
-        if len(self.xb1) == 2:
+        t = []
+        for i in range(3):
+            t = self.xb1
+            time.sleep(0.01)
+        if len(t) == 2:
             return 2
         else:
             return -1
@@ -298,4 +303,4 @@ def close_can_interface(self):
         if self.receive_thread.is_alive():
             self.receive_thread.join()
         if self.bus:
-            self.bus.shutdown()
+            self.bus.shutdown()

LinkerHand/core/can/__pycache__/base_can.cpython-38.pyc

@@ -7,7 +7,6 @@
 current_dir = os.path.dirname(os.path.abspath(__file__))
 target_dir = os.path.abspath(os.path.join(current_dir, ".."))
 sys.path.append(target_dir)
-from utils.color_msg import ColorMsg
 
 class FrameProperty(Enum):
     # Finger motion control - parallel control commands

LinkerHand/core/can/__pycache__/linker_hand_l10_can.cpython-38.pyc

@@ -7,7 +7,6 @@
 current_dir = os.path.dirname(os.path.abspath(__file__))
 target_dir = os.path.abspath(os.path.join(current_dir, ".."))
 sys.path.append(target_dir)
-from utils.color_msg import ColorMsg
 
 class FrameProperty(Enum):
     INVALID_FRAME_PROPERTY = 0x00  # Invalid CAN frame property | No response

LinkerHand/core/can/__pycache__/linker_hand_l20_can.cpython-38.pyc

@@ -2,7 +2,6 @@
 import time, sys
 import threading
 import numpy as np
-from enum import Enum
 
 
 class LinkerHandL7Can:
@@ -222,8 +221,11 @@ def get_torque(self):
     def get_touch_type(self):
         '''Get touch type'''
         self.send_frame(0xb1,[])
-        time.sleep(0.02)
-        if len(self.xb1) == 2:
+        t = []
+        for i in range(3):
+            t = self.xb1
+            time.sleep(0.01)
+        if len(t) == 2:
             return 2
         else:
             return -1
@@ -266,4 +268,4 @@ def close_can_interface(self):
         if self.receive_thread.is_alive():
             self.receive_thread.join()
         if self.bus:
-            self.bus.shutdown()
+            self.bus.shutdown()