From 8f58e0cd9cfd6e27079722e7f521fb5f274c4b80 Mon Sep 17 00:00:00 2001
From: weiquan <weiquan.xu@elephantrobotics.com>
Date: Tue, 13 Sep 2022 17:01:42 +0800
Subject: [PATCH] release v2.9.6

---
 CHANGELOG.md               |  7 ++++++-
 pymycobot/Interface.py     |  1 -
 pymycobot/__init__.py      |  2 +-
 pymycobot/mybuddysocket.py | 43 +++++++++++++-------------------------
 4 files changed, 21 insertions(+), 32 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5f32892..5aa7a8d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,11 @@
 # ChangeLog for pymycobot
 
-## v2.9.5(2022-9-13)
+## v2.9.6 (2022-9-13)
+
+- release v2.9.6
+- Fix MyBuddySocket get_radians()、send_radians() BUG
+
+## v2.9.5 (2022-9-13)
 
 - release v2.9.5
 - Add MyBuddy serial open(),is_open() function
diff --git a/pymycobot/Interface.py b/pymycobot/Interface.py
index 9565e2e..270c971 100644
--- a/pymycobot/Interface.py
+++ b/pymycobot/Interface.py
@@ -1,5 +1,4 @@
 # coding=utf-8
-from re import I
 from pymycobot.common import ProtocolCode
 from pymycobot.generate import MyCobotCommandGenerator
 
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index e593895..b63df8b 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -30,7 +30,7 @@
     "Mira"
 ]
 
-__version__ = "2.9.5"
+__version__ = "2.9.6"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/mybuddysocket.py b/pymycobot/mybuddysocket.py
index ac339b0..ca4bf7a 100644
--- a/pymycobot/mybuddysocket.py
+++ b/pymycobot/mybuddysocket.py
@@ -138,45 +138,30 @@ def _mesg(self, genre, *args, **kwargs):
                 return res
         return None
 
-    def get_radians(self):
-        """Get all angle return a list
+    def get_radians(self, id):
+        """Get the radians of all joints
 
+        Args: 
+            id: 1/2 (L/R)
+            
         Return:
-            data_list (list[radian...]):
+            list: A list of float radians [radian1, ...]
         """
-        angles = self._mesg(ProtocolCode.GET_ANGLES, has_reply=True)
+        angles = self._mesg(ProtocolCode.GET_ANGLES, id, has_reply=True)
         return [round(angle * (math.pi / 180), 3) for angle in angles]
 
-    def send_radians(self, radians, speed):
-        """Send all angles
+    def send_radians(self, id, radians, speed):
+        """Send the radians of all joints to robot arm
 
         Args:
-            radians (list): example [0, 0, 0, 0, 0, 0]
-            speed (int): 0 ~ 100
+            id: 1/2 (L/R).
+            radians: a list of radian values( List[float]), length 6
+            speed: (int )0 ~ 100
         """
-        calibration_parameters(len6=radians, speed=speed)
+        # calibration_parameters(len6=radians, speed=speed)
         degrees = [self._angle2int(radian * (180 / math.pi))
                    for radian in radians]
-        return self._mesg(ProtocolCode.SEND_ANGLES, degrees, speed)
-
-    def sync_send_angles(self, degrees, speed, timeout=7):
-        t = time.time()
-        self.send_angles(degrees, speed)
-        while time.time() - t < timeout:
-            f = self.is_in_position(degrees, 0)
-            if f:
-                break
-            time.sleep(0.1)
-        return self
-
-    def sync_send_coords(self, coords, speed, mode, timeout=7):
-        t = time.time()
-        self.send_coords(coords, speed, mode)
-        while time.time() - t < timeout:
-            if self.is_in_position(coords, 1):
-                break
-            time.sleep(0.1)
-        return self
+        return self._mesg(ProtocolCode.SEND_ANGLES, id, degrees, speed)
 
     def set_gpio_mode(self, mode):
         """Set pin coding method