release v4.0.3 (#226)

* Feat/ultra arm p1 api (#205)

* feat(P1-api):P1 adapts to basic motion interface

* refactor(P1-Api): The class name is renamed to UltraArmP1

* feat(ultraArm P1): P1 Control interface adds closed-loop position feedback

* perf(ultraArm P1): P1 Control interface adds closed-loop position feedback

* feat(P1): Control interface adds closed-loop switch parameters

* fix(320-Api):Fixed the abnormal return value issue of the three-finger/force-controlled gripper reading interface

* Fix/pro320 api (#213)

* feat(P1-api):P1 adapts to basic motion interface

* refactor(P1-Api): The class name is renamed to UltraArmP1

* feat(ultraArm P1): P1 Control interface adds closed-loop position feedback

* perf(ultraArm P1): P1 Control interface adds closed-loop position feedback

* feat(P1): Control interface adds closed-loop switch parameters

* fix(320-Api):Fixed the abnormal return value issue of the three-finger/force-controlled gripper reading interface

* Fixed MyAGVPro known bugs (#217)

* add MyCobot 280 X5PI API

* add MyCobot 280 X5 PI doc

* Fix MyCobot 280 X5 Pi doc errors

* add MyCobot 280 X5 PI sokcet sever&client

* MyCobot 280 X5 PI server compatible with python2

* rename MyCobot280x5pi to MyCobot280RDKX5

* fix MyArmMControl bugs

* fix MyArmC bugs

* fix myArmM&C demo bug

* update M&C demo

* fix MyCobot280 rdkx5 bug

* fix MyArmM&C bugs

* fix bugs

* fix bug

* fix ThreeHand api bug

* Fixed the issue that Pro630 could not read data

* fix MyArmM bug

* MyArmM&C adds get_joints_coord interface

* fix Pro630 bug

* fix Pro630 bugs

* Fixed the pro630 socket communication bug

* Optimize MyCobot280 RDK X5 interface parameter error prompt

* Optimized the way MyAGV reads MCU data

* feat(myagvpro): add myagvpro api

* fix(ConveyorApi):Fix the problem that no data is returned

* feat(MyAGVPro): Adapt to Bluetooth and socket TCP communication modes

* docs(MyAGVPro): Format the document

* docs(MyAGVPro): Documentation to increase use cases

* docs(MyAGVPro): rename MyAGVPro_zh.md

* docs(MyAGVPro): Update the serial port

* fix(MyArmM): Correction of joint limit and motor code value range

* feat(MyAGVPro): Add get_emergency_stop_state api

* feat(MyAGVPro): Add get_emergency_stop_state api

* refactor(MyAGVPro): rename get_emergency_stop_state to get_estop_state

* feat(MyAgv): Added setting/reading automatic report status interface

* fix(M750):Updated M750 Swing Limit

* fix(MyAGVPro): The issue that Bluetooth address matching fails is fixed

* feat(myagvpro): add get_robot_status api

* feat(demo):Add myAGVPro composite kit handle control case

* feat(MercuryX1): Compatible with dock firmware version 1.2

* feat(mercurychassis_api): Dynamically matching instruction length

* feat(mercurychassis_api): Optimize voltage reading accuracy

* feat(ConveyorApi): Separate the set_motor_speed interface

* feat(ConveyorApi): Specify the motor type during initialization

* refactor(conveyorApi): add stop interface

* Develop branch merge (#196)

* 添加pid设置demo

* chore: Add a custom pylint configuration file

---------

Co-authored-by: weiquan

* feat(conveyor_api): Adapt to Conveyor 1.1 firmware, all interfaces return uniform values

* feat(AGVPRO): Adapt to CH340 serial port chip

* feat(AGVPRO): Automatically upload the adapter firmware v1.0.10

* feat(AGVPRO): Added the control interface for opening and closing the handle

* feat(AGVPRO): Added an interface for reading handle control status

* feat(AGVPRO): Bluetooth adapter handle control interface

* fix(mercury): Fix the redundant code in the previous commit

* fix(Mercury): Resolved server communication issues affecting both arms

* fix(MyAGVPro): Fixed the issue that some interfaces did not return

* fix(MyAGVPro): Fixed the interface parameter verification error issue

* refactor(MyAGVPro): Optimize get_robot_statuts interface return

---------

Co-authored-by: Mrkun5018 <76215701+Mrkun5018@users.noreply.github.com>
Co-authored-by: weiquan <55946925+anla-xu@users.noreply.github.com>

* Fix/p340 api (#216)

* fix(P340): Fixed the play_gcode_file interface stuck issue

* fix(P340): Fixed the play_gcode_file interface stuck issue,remove thread lock

* fix(P340-Api): Fixed the play_gcode_file interface stuck issue

* Fix/p340 api (#220)

* fix(pro450): fix some test interface bugs

* fix(pro450-api): Fixed the problem of some interface parameters exceeding the limit

* fix(pro450-api): Fixed the problem of is_in_position() interface parameters exceeding the limit

* fix(pro450-api): Fixed the problem of some interface parameters exceeding the limit

* feat(pro450-API):Add settings and get communication mode interface, waiting for machine verification

* feat(pro450-api):Added custom protocol document interface, pending machine verification

* feat(pro450-api):Added custom protocol document interface, pending machine verification

* docs(pro450-api): update API use

* docs(pro450-api): update API use

* fix(pro450-api): fix some interfaces

* fix(pro450-api): fix some interfaces

* feat(pro450-api):Added dynamic parameter identification interface

* docs(pro450-api): update API use, remove some API

* feat(pro450-api):Added kinematic algorithm inverse solution interface and repaired closed loop mechanism, closed loop by default

* docs(pro450-api): update API use

* fix(pro450-api): fix some Api

* feat(pro450-api): add go_home() Api

* fix(pro450-API): solve_inv_kinematics interface adds parameter range detection

* fix(P340-api): fix test API bug

* fix(pro450-api):fix some api bug

* docs(pro450-api): update API use

* fix(pro450-api):Fixed some interface test bugs

* docs(pro450-api): update API use

* fix(pro450-api): Repair the bottom external device related interface and sports mode interface

* fix(pro450-api): Repair the bottom external device related interface and sports mode interface

* fix(pro450-api):Repair the bottom external device interface

* fix(pro450-api): fix some api bugs

* fix(pro450-api): Fixed the issue of refresh mode returning -1

* perf(pro450-api):Optimize the log module to prevent repeated printing of logs

* fix(pro450-api): Increase the parameter range of the log mode setting interface

* fix(pro450-api): Restore the parameter range of the log mode setting interface (#221)

* feat: release v4.0.2

* Fix/p340 api (#223)

* fix(p340-api):fix jog_coord api

* fix(p340-api): fix speed range

* fix(p340-api):fix gripper speed range

* fix(280-api): fix some API parameter range (#225)

---------

Co-authored-by: wangWking <93129711+wangWking@users.noreply.github.com>
Co-authored-by: K-Shuffler <76215701+K-Shuffler@users.noreply.github.com>
Co-authored-by: Mrkun5018 <76215701+Mrkun5018@users.noreply.github.com>

Author: 3 people

.pre-commit-config.yaml

@@ -6,17 +6,17 @@ repos:
         name: commit checking
         stages: [commit-msg]
 
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    # Ruff version.
-    rev: v0.12.10
-    hooks:
-      # Run the linter.
-      - id: ruff-check
-        types_or: [ python, pyi ]
-        args: [ --fix ]
-      # Run the formatter.
-      - id: ruff-format
-        types_or: [ python, pyi ]
+  # - repo: https://github.com/astral-sh/ruff-pre-commit
+  #   # Ruff version.
+  #   rev: v0.12.10
+  #   hooks:
+  #     # Run the linter.
+  #     - id: ruff-check
+  #       types_or: [ python, pyi ]
+  #       args: [ --fix ]
+  #     # Run the formatter.
+  #     - id: ruff-format
+  #       types_or: [ python, pyi ]
 
   # - repo: local
   #   hooks:

CHANGELOG.md

@@ -1,5 +1,10 @@
 # ChangeLog for pymycobot
 
+## v4.0.3 (2025-11-6)
+
+- release v4.0.3
+- Fix bugs
+
 ## v4.0.2 (2025-10-20)
 
 - release v4.0.2

pymycobot/__init__.py

@@ -104,7 +104,7 @@
     "UltraArmP1",
 ]
 
-__version__ = "4.0.2"
+__version__ = "4.0.3"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/error.py

@@ -222,6 +222,7 @@ def is_in_position(self, data, id=0):
             0 - False\n
             -1 - Error
         """
+        self.calibration_parameters(class_name=self.__class__.__name__, position_id=id)
         if id == 1:
             self.calibration_parameters(class_name=self.__class__.__name__, coords=data)
             data_list = []
@@ -232,8 +233,6 @@ def is_in_position(self, data, id=0):
         elif id == 0:
             self.calibration_parameters(class_name=self.__class__.__name__, angles=data)
             data_list = [self._angle2int(i) for i in data]
-        else:
-            raise Exception("id is not right, please input 0 or 1")
 
         return self._mesg(ProtocolCode.IS_IN_POSITION, data_list, id, has_reply=True)
 

pymycobot/generate.py

@@ -391,7 +391,7 @@ def jog_rpy(self, end_direction, direction, speed, _async=False):
             direction (int): 1 - forward rotation, 0 - reverse rotation
             speed (int): 1 ~ 100
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, end_direction=end_direction, speed=speed)
+        self.calibration_parameters(class_name=self.__class__.__name__, end_direction=end_direction, direction=direction, speed=speed)
         return self._mesg(ProtocolCode.JOG_ABSOLUTE, end_direction, direction, speed, _async=_async)
 
     def jog_increment_angle(self, joint_id, increment, speed, _async=False):
@@ -402,8 +402,10 @@ def jog_increment_angle(self, joint_id, increment, speed, _async=False):
             increment: Angle increment value
             speed: int (0 - 100)
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, id=joint_id, speed=speed)
-        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, [self._angle2int(increment)], speed, _async=_async)
+        self.calibration_parameters(class_name=self.__class__.__name__, id=joint_id, increment_angle=increment, speed=speed)
+        scaled_increment = self._angle2int(increment)
+        scaled_increment = max(min(scaled_increment, 32767), -32768)
+        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, [scaled_increment], speed, _async=_async)
 
     def jog_increment_coord(self, id, increment, speed, _async=False):
         """coord step mode
@@ -413,8 +415,12 @@ def jog_increment_coord(self, id, increment, speed, _async=False):
             increment: Coord increment value
             speed: int (1 - 100)
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, id=id, speed=speed)
-        value = self._coord2int(increment) if id <= 3 else self._angle2int(increment)
+        self.calibration_parameters(class_name=self.__class__.__name__, id=id, increment_coord=increment, speed=speed)
+        if id <= 3:
+            value = self._coord2int(increment)
+        else:
+            scaled_increment = self._angle2int(increment)
+            value = max(min(scaled_increment, 32767), -32768)
         return self._mesg(ProtocolCode.JOG_INCREMENT_COORD, id, [value], speed, _async=_async)
 
     def set_HTS_gripper_torque(self, torque):

pymycobot/mycobot280.py

@@ -385,7 +385,7 @@ def jog_rpy(self, end_direction, direction, speed, _async=False):
             direction (int): 1 - forward rotation, 0 - reverse rotation
             speed (int): 1 ~ 100
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, end_direction=end_direction, speed=speed)
+        self.calibration_parameters(class_name=self.__class__.__name__, end_direction=end_direction, direction=direction, speed=speed)
         return self._mesg(ProtocolCode.JOG_ABSOLUTE, end_direction, direction, speed, _async=_async)
 
     def jog_increment_angle(self, joint_id, increment, speed, _async=False):
@@ -396,8 +396,10 @@ def jog_increment_angle(self, joint_id, increment, speed, _async=False):
             increment: Angle increment value
             speed: int (0 - 100)
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, id=joint_id, speed=speed)
-        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, [self._angle2int(increment)], speed, _async=_async)
+        self.calibration_parameters(class_name=self.__class__.__name__, id=joint_id, increment_angle=increment, speed=speed)
+        scaled_increment = self._angle2int(increment)
+        scaled_increment = max(min(scaled_increment, 32767), -32768)
+        return self._mesg(ProtocolCode.JOG_INCREMENT, joint_id, [scaled_increment], speed, _async=_async)
 
     def jog_increment_coord(self, id, increment, speed, _async=False):
         """coord step mode
@@ -407,8 +409,12 @@ def jog_increment_coord(self, id, increment, speed, _async=False):
             increment: Coord increment value
             speed: int (1 - 100)
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, id=id, speed=speed)
-        value = self._coord2int(increment) if id <= 3 else self._angle2int(increment)
+        self.calibration_parameters(class_name=self.__class__.__name__, id=id, increment_coord=increment, speed=speed)
+        if id <= 3:
+            value = self._coord2int(increment)
+        else:
+            scaled_increment = self._angle2int(increment)
+            value = max(min(scaled_increment, 32767), -32768)
         return self._mesg(ProtocolCode.JOG_INCREMENT_COORD, id, [value], speed, _async=_async)
 
     def set_HTS_gripper_torque(self, torque):

pymycobot/mycobot280socket.py

@@ -295,10 +295,11 @@ class RobotLimit:
         },
         "MyCobot280": {
             "id": [1, 2, 3, 4, 5, 6],
+            "coord_id": [1, 2, 3, 4, 5, 6],
             "angles_min": [-168, -140, -150, -150, -155, -180],
             "angles_max": [168, 140, 150, 150, 160, 180],
-            "coords_min": [-350, -350, -70, -180, -180, -180],
-            "coords_max": [350, 350, 523.9, 180, 180, 180]
+            "coords_min": [-281.45, -281.45, -70, -180, -180, -180],
+            "coords_max": [281.45, 281.45, 412.67, 180, 180, 180]
         },
         "MyCobot280RDK-X5": {
             "joint_id": [1, 2, 3, 4, 5, 6],
@@ -311,6 +312,7 @@ class RobotLimit:
         },
         "MyCobot280Socket": {
             "id": [1, 2, 3, 4, 5, 6],
+            "coord_id": [1, 2, 3, 4, 5, 6],
             "angles_min": [-168, -140, -150, -150, -155, -180],
             "angles_max": [168, 140, 150, 150, 160, 180],
             "coords_min": [-281.45, -281.45, -70, -180, -180, -180],