同步文档修改

RosenYin · RosenYin · commit bb3e1c4ee055 · 2025-04-01T18:38:32.000+08:00
diff --git a/CHANGELOG.MD b/CHANGELOG.MD
@@ -1,4 +1,25 @@
 
+Version 0.2.20
+=============
+
+Features
+--------
+
+- Added the teaching pendant friction coefficient parameter to the gripper/teaching pendant parameter feedback command (both feedback and sending) and adapted the protocol.
+- Added `ModeCtrl` and `EmergencyStop` functions to set modes and perform emergency stops (future updates will introduce dictionary-based parameter matching for all functions).
+- Renamed all data reading files in the demo to start with "read" for easier searching.
+- Initialized `rx_message` as an empty `Message()` in the `C_STD_CAN` encapsulation class.
+
+Bug Fixes
+---------
+
+- Fixed the issue where the gripper feedback timestamp was of type `int`. Now, a unified timestamp retrieval function is used.
+
+Miscellaneous
+---------
+
+None
+
 Version 0.2.19
 =============
 
diff --git a/asserts/V1/INTERFACE_V1(EN).MD b/asserts/V1/INTERFACE_V1(EN).MD
@@ -122,7 +122,9 @@ Each robot-related class has a timestamp. If the data can only be obtained by mu
 | `__UpdatePiperFeedbackFK` | Getter Method | Updates the forward kinematics data for piper feedback information. | For internal class use only. | None | None |
 | `__UpdatePiperCtrlFK`     | Getter Method | Updates the forward kinematics data for piper control information. | For internal class use only. | None | None |
 |`MotionCtrl_1`|Ctrl Method| 0x150, can control emergency stop, trajectory transmission, and teach mode. |Called from outside the class|`emergency_stop (uint8)`, `track_ctrl (uint8)`, `grag_teach_ctrl (uint8)``emergency_stop (uint8)`,`track_ctrl (uint8)`, `grag_teach_ctrl (uint8)`|NoneNone|
-|`MotionCtrl_2`|Ctrl MethodCtrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`, `move_mode (uint8)`, `move_spd_rate_ctrl (uint8)``ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`|NoneNone|
+|`EmergencyStop`|Ctrl Method|0x150,emergency stop|Called from outside the class|`emergency_stop (uint8)`|None|
+|`MotionCtrl_2`|Ctrl MethodCtrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`, `move_mode (uint8)`, `move_spd_rate_ctrl (uint8)``ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|NoneNone|
+|`ModeCtrl`|Ctrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|None|
 |`EndPoseCtrl`|Ctrl MethodCtrl Method|0x152, 0x153, 0x154, control the end position and posture of the robotic arm. This function consolidates the three functions below; note that the x, y, z values sent by this function are in units of 0.001 mm, and the rx, ry, rz values are in units of 0.001 degrees. For example, if the robotic arm needs to move 0.3 m in the x-axis direction, the data sent should be 0.3 \* 100 \* 1000 = 30000.|Called from outside the class|`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`,`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`|None|
 |`__CartesianCtrl_XY`|Ctrl MethodCtrl Method|Control the XY axis motion of the robotic arm in Cartesian coordinates.|Called within the class (private)|`X (int)`, `Y (int)`|None|
 |`__CartesianCtrl_ZRX`|Ctrl Method|Control the Z-axis and RX-axis movement of the robotic arm in Cartesian coordinates.|Called within the class (private)|`Z (int)`, `RX (int)`|None|
diff --git a/asserts/V1/INTERFACE_V1.MD b/asserts/V1/INTERFACE_V1.MD
@@ -123,7 +123,9 @@ ps：有些地方略写，代码中有详细的中文注释，本文这里只是
 |`__UpdatePiperFeedbackFK`|Getter Method|更新piper反馈信息正解数据|类内使用|None|None|
 |`__UpdatePiperCtrlFK`|Getter Method|更新piper控制信息正解数据|类内使用|None|None|
 |`MotionCtrl_1`|Ctrl Method|0x150,可以控制急停、轨迹传输及拖动示教模式。|类外调用|`emergency_stop (uint8)`,`track_ctrl (uint8)`, `grag_teach_ctrl (uint8)`|None|
-|`MotionCtrl_2`|Ctrl Method|0x151,可以设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`|None|
+|`EmergencyStop`|Ctrl Method|0x150,控制急停|类外调用|`emergency_stop (uint8)`|None|
+|`MotionCtrl_2`|Ctrl Method|0x151,可以设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|None|
+|`ModeCtrl`|Ctrl Method|0x151,设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`,`is_mit_mode(uint8)`|None|
 |`EndPoseCtrl`|Ctrl Method|0x152,0x153,0x154,控制机械臂的末端位置和姿态。是下面三个函数的汇总,需要注意的是，该函数发送出去的x、y、z数值单位为0.001mm,rx、ry、rz数值单位为0.001度,假如需要机械臂向x轴方向运行0.3m，则发送的数据应为0.3\*100\*1000=30000|类外调用|`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`|None|
 |`__CartesianCtrl_XY`|Ctrl Method|控制机械臂笛卡尔坐标的XY轴运动。|类内调用(私有)|`X (int)`, `Y (int)`|None|
 |`__CartesianCtrl_ZRX`|Ctrl Method|控制机械臂笛卡尔坐标的Z轴和RX轴运动。|类内调用(私有)|`Z (int)`, `RX (int)`|None|
diff --git a/asserts/V2/INTERFACE_V2(EN).MD b/asserts/V2/INTERFACE_V2(EN).MD
@@ -125,7 +125,9 @@ Each robot-related class has a timestamp. If the data can only be obtained by mu
 | `__UpdatePiperFeedbackFK` | Getter Method | Updates the forward kinematics data for piper feedback information. | For internal class use only. | None | None |
 | `__UpdatePiperCtrlFK`     | Getter Method | Updates the forward kinematics data for piper control information. | For internal class use only. | None | None |
 |`MotionCtrl_1`|Ctrl Method| 0x150, can control emergency stop, trajectory transmission, and teach mode. |Called from outside the class|`emergency_stop (uint8)`, `track_ctrl (uint8)`, `grag_teach_ctrl (uint8)``emergency_stop (uint8)`,`track_ctrl (uint8)`, `grag_teach_ctrl (uint8)`|NoneNone|
-|`MotionCtrl_2`|Ctrl MethodCtrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`, `move_mode (uint8)`, `move_spd_rate_ctrl (uint8)``ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`|NoneNone|
+|`EmergencyStop`|Ctrl Method|0x150,emergency stop|Called from outside the class|`emergency_stop (uint8)`|None|
+|`MotionCtrl_2`|Ctrl MethodCtrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`, `move_mode (uint8)`, `move_spd_rate_ctrl (uint8)``ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|NoneNone|
+|`ModeCtrl`|Ctrl Method|0x151, can set control mode, MOVE mode, and motion speed. Each time before controlling the robotic arm's motion, this must be sent, otherwise the arm may not move.|Called from outside the class|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|None|
 |`EndPoseCtrl`|Ctrl MethodCtrl Method|0x152, 0x153, 0x154, control the end position and posture of the robotic arm. This function consolidates the three functions below; note that the x, y, z values sent by this function are in units of 0.001 mm, and the rx, ry, rz values are in units of 0.001 degrees. For example, if the robotic arm needs to move 0.3 m in the x-axis direction, the data sent should be 0.3 \* 100 \* 1000 = 30000.|Called from outside the class|`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`,`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`|None|
 |`__CartesianCtrl_XY`|Ctrl MethodCtrl Method|Control the XY axis motion of the robotic arm in Cartesian coordinates.|Called within the class (private)|`X (int)`, `Y (int)`|None|
 |`__CartesianCtrl_ZRX`|Ctrl Method|Control the Z-axis and RX-axis movement of the robotic arm in Cartesian coordinates.|Called within the class (private)|`Z (int)`, `RX (int)`|None|
@@ -153,7 +155,7 @@ Each robot-related class has a timestamp. If the data can only be obtained by mu
 |`SearchPiperFirmwareVersion`|Ctrl Method|Query the main controller firmware version of the Piper robotic arm|Called outside the class|None|None|
 | `__JointMitCtrl` | Ctrl Method | MIT control instruction for joints 1-6 of the robotic arm (0x15A, 0x15B, 0x15C, 0x15D, 0x15E, 0x15F). |Internal method call| `self, motor_num: int`, `pos_ref: float`, `vel_ref: float`, `kp: float`, `kd: float`, `t_ref: float`, `p_min: float = -12.5`, `p_max: float = 12.5`, `v_min: float = -45.0`, `v_max: float = 45.0`, `kp_min: float = 0.0`, `kp_max: float = 500.0`, `kd_min: float = -5.0`, `kd_max: float = 5.0`, `t_min: float = -18.0`, `t_max: float = 18.0` | None |  
 | `JointMitCtrl` | Ctrl Method | MIT control instruction for joints 1-6 of the robotic arm (0x15A, 0x15B, 0x15C, 0x15D, 0x15E, 0x15F). | External call | `self, motor_num: int`, `pos_ref: float`, `vel_ref: float`, `kp: float`, `kd: float`, `t_ref: float` | None |  
-|`GripperTeachingPendantParamConfig`|Ctrl Method|Gripper/Teach Pendant Parameter Setting Command (Based on version V1.5-2 and later)|Called outside the class|`teaching_range_per:int=100`, `max_range_config:int=70`|None|
+|`GripperTeachingPendantParamConfig`|Ctrl Method|Gripper/Teach Pendant Parameter Setting Command (Based on version V1.5-2 and later)|Called outside the class|`teaching_range_per:int=100`, `max_range_config:int=70`, `teaching_friction:int = 1`|None|
 
 **Note:**
 
diff --git a/asserts/V2/INTERFACE_V2.MD b/asserts/V2/INTERFACE_V2.MD
@@ -126,7 +126,9 @@ ps：有些地方略写，代码中有详细的中文注释，本文这里只是
 |`__UpdatePiperFeedbackFK`|Getter Method|更新piper反馈信息正解数据|类内使用|None|None|
 |`__UpdatePiperCtrlFK`|Getter Method|更新piper控制信息正解数据|类内使用|None|None|
 |`MotionCtrl_1`|Ctrl Method|0x150,可以控制急停、轨迹传输及拖动示教模式。|类外调用|`emergency_stop (uint8)`,`track_ctrl (uint8)`, `grag_teach_ctrl (uint8)`|None|
-|`MotionCtrl_2`|Ctrl Method|0x151,可以设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`|None|
+|`EmergencyStop`|Ctrl Method|0x150,控制急停|类外调用|`emergency_stop (uint8)`|None|
+|`MotionCtrl_2`|Ctrl Method|0x151,可以设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`, `is_mit_mode(uint8)`|None|
+|`ModeCtrl`|Ctrl Method|0x151,设置控制模式、MOVE模式及运动速度。每次控制机械臂运动之前都要发送一次，否则机械臂可能动不起来|类外调用|`ctrl_mode (uint8)`,`move_mode (uint8)`, `move_spd_rate_ctrl (uint8)`,`is_mit_mode(uint8)`|None|
 |`EndPoseCtrl`|Ctrl Method|0x152,0x153,0x154,控制机械臂的末端位置和姿态。是下面三个函数的汇总,需要注意的是，该函数发送出去的x、y、z数值单位为0.001mm,rx、ry、rz数值单位为0.001度,假如需要机械臂向x轴方向运行0.3m，则发送的数据应为0.3\*100\*1000=30000|类外调用|`X (int)`, `Y (int)`, `Z (int)`, `RX (int)`, `RY (int)`, `RZ (int)`|None|
 |`__CartesianCtrl_XY`|Ctrl Method|控制机械臂笛卡尔坐标的XY轴运动。|类内调用(私有)|`X (int)`, `Y (int)`|None|
 |`__CartesianCtrl_ZRX`|Ctrl Method|控制机械臂笛卡尔坐标的Z轴和RX轴运动。|类内调用(私有)|`Z (int)`, `RX (int)`|None|
@@ -154,7 +156,7 @@ ps：有些地方略写，代码中有详细的中文注释，本文这里只是
 |`SearchPiperFirmwareVersion`|Ctrl Method|查询piper机械臂的主控固件版本|类外调用|None|None|
 |`__JointMitCtrl`|Ctrl Method|0x15A,0x15B,0x15C,0x15D,0x15E,0x15F,机械臂关节1~6MIT控制指令|类内调用|`self,motor_num:int`,`pos_ref:float`,`vel_ref:float`,`kp:float`,`kd:float`,`t_ref:float`,`p_min:float=-12.5`,`p_max:float=12.5`,`v_min:float=-45.0`,`v_max:float=45.0`,`kp_min:float=0.0`,`kp_max:float=500.0`,`kd_min:float=-5.0`,`kd_max:float=5.0`,`t_min:float=-18.0`,`t_max:float=18.0`|None|
 |`JointMitCtrl`|Ctrl Method|0x15A,0x15B,0x15C,0x15D,0x15E,0x15F,机械臂关节1~6MIT控制指令|类外调用|`self,motor_num:int`,`pos_ref:float`,`vel_ref:float`,`kp:float`,`kd:float`,`t_ref:float`|None|
-|`GripperTeachingPendantParamConfig`|Ctrl Method|夹爪/示教器参数设置指令(基于V1.5-2版本后)|类外调用|`teaching_range_per:int=100`, `max_range_config:int=70`|None|
+|`GripperTeachingPendantParamConfig`|Ctrl Method|夹爪/示教器参数设置指令(基于V1.5-2版本后)|类外调用|`teaching_range_per:int=100`, `max_range_config:int=70`, `teaching_friction:int = 1`|None|
 
 注意：
 
