From 575a9ec4f65f37365f120964ce683c5fce184b1a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=BC=A0=E7=AB=8B=E5=86=9B?=
 <lijun.zhang@elephantrobotices.com>
Date: Tue, 29 Dec 2020 17:31:38 +0800
Subject: [PATCH] feat(pythonapi): add test file, update README

---
 scripts/pythonAPI/README.md | 364 ++++++++++++++++++++++++++++++++++++
 scripts/test.py             |  57 +++++-
 2 files changed, 418 insertions(+), 3 deletions(-)

diff --git a/scripts/pythonAPI/README.md b/scripts/pythonAPI/README.md
index fe58000..d0e31c0 100644
--- a/scripts/pythonAPI/README.md
+++ b/scripts/pythonAPI/README.md
@@ -1,2 +1,366 @@
 # ros-python-api
 
+**This is python API for mycobot.**
+
+We support Python2, Python3.5 or later. If you want to use the api, make sure `pyserial` is installed.
+
+```bash
+pip2 install pyserial
+# or
+pip3 install pyserial
+```
+
+**Class**:
+- [MyCobot](##MyCobot)
+- [Angle](##Angle)
+- [Coord](##Coord)
+
+
+## MyCobot
+
+### MyCobot.power_on()
+
+- **Description**
+
+    Robot arm power up.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.power_off()
+
+- **Description**
+
+    Robot arm power down.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.set_free_mode()
+
+- **Description**
+
+    Robot arm into free moving mode.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.get_angles()
+
+- **Description**
+
+    Get the degree of all joints.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    A float list of degree.
+
+### MyCobot.get_angles_by_radian()
+
+- **Description**
+
+    Get the radians of all joints.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    A float list of radian.
+
+### MyCobot.send_angle()
+
+- **Description**
+
+    Send one degree of joint to robot arm.
+
+- **Parameters**
+
+    id: Joint id(common.Angle)
+
+    degree: degree value(float)
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+- **Example**
+
+    ```python
+    from pythonAPI.mycobot import MyCobot
+    from pythonAPI.common import Angle
+
+
+    mycobot = MyCobot()
+    mycobot.send_angle(Angle.J2.value, 10, 50)
+    ```
+
+### MyCobot.send_angles()
+
+- **Description**
+
+    Send the degrees of all joints to robot arm.
+
+- **Parameters**
+
+    degrees: a list of degree value(List[float])
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+- **Example**
+
+    ```python
+    from pythonAPI.mycobot import MyCobot
+    from pythonAPI.common import Angle
+
+
+    mycobot = MyCobot()
+    mycobot.send_angles([0,0,0,0,0,0], 80)
+    ```
+
+### MyCobot.send_angles_by_radian()
+
+- **Description**
+
+    Send the radians of all joint to robot arm.
+
+- **Parameters**
+
+    degrees: a list of radian value(List[float])
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+- **Example**
+
+    ```python
+    from pythonAPI.mycobot import MyCobot
+    from pythonAPI.common import Angle
+
+
+    mycobot = MyCobot()
+    mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
+    ```
+
+### MyCobot.get_coords()
+
+- **Description**
+
+    Get the Coords from robot arm.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    A float list of coord.
+
+### MyCobot.send_coord()
+
+- **Description**
+
+    Send one coord to robot arm.
+
+- **Parameters**
+
+    id: coord name(common.Coord)
+
+    coord: coord value(float)
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+- **Example**
+
+    ```python
+    from pythonAPI.mycobot import MyCobot
+    from pythonAPI.common import Coord
+
+
+    mycobot = MyCobot()
+    mycobot.send_coord(Coord.X.value, -40, 70)
+    ```
+
+### MyCobot.send_coords()
+
+- **Description**
+
+    Send all coords to robot arm.
+
+- **Parameters**
+
+    coords: a list of coords value(List[float])
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+- **Example**
+
+    ```python
+    from pythonAPI.mycobot import MyCobot
+    from pythonAPI.common import Coord
+
+
+    mycobot = MyCobot()
+    mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
+    ```
+### MyCobot.set_color()
+
+- **Description**
+
+    Set the color of the light on the top of the robot arm.
+
+
+- **Parameters**
+
+    rgb: (string) like: "FF0000"
+
+- **Returns**
+
+    None
+### MyCobot.is_moving()
+
+- **Description**
+
+    Judge whether the manipulator is moving or not.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    bool: `True` - moving, `False` - not moving.
+
+### MyCobot.pause()
+
+- **Description**
+
+    Pause movement.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.resume()
+
+- **Description**
+
+    Recovery movement.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.stop()
+
+- **Description**
+
+    Stop moving.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    None
+
+### MyCobot.is_pause()
+
+- **Description**
+
+    Judge whether the manipulator pauses or not.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    bool: `True` - pause, `False` - not pause.
+
+### MyCobot.get_speed()
+
+- **Description**
+
+    Get speed.
+
+- **Parameters**
+
+    None
+
+- **Returns**
+
+    speed: (int)
+
+### MyCobot.set_speed()
+
+- **Description**
+
+    Set speed.
+
+- **Parameters**
+
+    speed: (int)
+
+- **Returns**
+
+    None
+
+## Angle
+
+**Description**
+
+Instance class of joint. It's recommended to use this class to select joint.
+
+
+## Coord
+
+**Description**
+
+Instance class of coord. It's recommended to use this class to select coord.
\ No newline at end of file
diff --git a/scripts/test.py b/scripts/test.py
index d4e38bf..f20e7c2 100644
--- a/scripts/test.py
+++ b/scripts/test.py
@@ -1,8 +1,59 @@
-#!/usr/bin/env python3
+import time, random
 from pythonAPI.mycobot import MyCobot
+from pythonAPI.common import Angle, Coord
 
 if __name__ == '__main__':
     mycobot = MyCobot()
-    mycobot.set_color("ff0000")
-    print(mycobot.get_angles_of_radian())
+
+    print('Start check api\n')
+    # print()
+
+    color_name = ['red', 'green', 'blue']
+    color_code = ['ff0000', '00ff00', '0000ff']
+    print('::ser_color()')
+    i = random.randint(0, len(color_code) - 1)
+    mycobot.set_color(color_code[i])
+    print('==>set color {}\n'.format(color_name[i]))
+    time.sleep(0.5)
+
+    print('::get_angles()')
+    print('==> degrees: {}\n'.format(mycobot.get_angles()))
+    time.sleep(0.5)
+
+    print('::get_angles_of_radian()')
+    print('==> radians: {}\n'.format(mycobot.get_angles_of_radian()))
+    time.sleep(0.5)
     
+    print('::send_angles()')
+    mycobot.send_angles([0,0,0,0,0,0], 80)
+    print('==> set angles [0,0,0,0,0,0], speed 80\n')
+    time.sleep(3)
+
+    print('::send_angles_by_radian')
+    mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
+    print('==> set raidans [1,1,1,1,1,1], speed 70\n')
+    time.sleep(1.5)
+
+    print('::send_angle()')
+    mycobot.send_angle(Angle.J2.value, 10, 50)
+    print('==> angle: joint2, degree: 10, speed: 50\n')
+    time.sleep(1)
+
+    print('::get_coords()')
+    print('==> coords {}\n'.format(mycobot.get_coords()))
+    time.sleep(0.5)
+
+    print('::send_coords()')
+    mycobot.send_coords([160, 160, 160, 0, 0, 0], 70, 0)
+    print('==> send coords [160,160,160,0,0,0], speed 70, mode 0\n')
+    time.sleep(2.5)
+
+    print('::send_coord()')
+    mycobot.send_coord(Coord.X.value, -40, 70)
+    print('==> send coord id: X, coord value: -40, speed: 70\n')
+    time.sleep(2)
+
+    print('::set_free_mode()')
+    mycobot.set_free_mode()
+    print('==> into free moving mode.')
+    print('=== check end <==\n')