From f4c4f2a657d20281249a31d0bd59d2504db6aadd Mon Sep 17 00:00:00 2001
From: DzC-0i <11778119+DzC-0i@user.noreply.gitee.com>
Date: Thu, 28 Nov 2024 16:14:29 +0800
Subject: [PATCH 1/2] =?UTF-8?q?Update=20v1.0.10=20=E4=BF=AE=E6=94=B9motor?=
 =?UTF-8?q?=E4=B8=AD=E4=B8=8A=E4=B8=80=E6=97=B6=E5=88=BB=E9=80=9F=E5=BA=A6?=
 =?UTF-8?q?=E5=8F=96=E5=80=BC=E7=BB=86=E8=8A=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Controller/driver/motors/dmbots/motor.py | 2 +-
 README.md                                | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/Controller/driver/motors/dmbots/motor.py b/Controller/driver/motors/dmbots/motor.py
index 52f6c2f..bf45605 100644
--- a/Controller/driver/motors/dmbots/motor.py
+++ b/Controller/driver/motors/dmbots/motor.py
@@ -240,7 +240,7 @@ class Sync(threading.Thread):
                     target_velocity = pvt[1][0]
                     target_position = pvt[0][0]
                     if target_position != 0:
-                        last_velocity = target_velocity
+                        last_velocity = pvt[1][0]
                 else:
                     # target_velocity = self.__target_velocity
                     if self.__motor_control_mode == POS_VEL or self.__motor_control_mode == Torque_Pos:
diff --git a/README.md b/README.md
index e3f2607..394d153 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,9 @@ Coarm机械臂底层运动控制库
 
 ## 更新说明
 
+### Update v1.0.10
+1. 修改motor中上一时刻速度取值细节
+
 ### Update v1.0.9
 1. 修改轨迹运动部分，在到位精度内关节不运动
 2. 增加运动完成时间比率
-- 
Gitee


From 828aca5f1e45f02ad80dbaf6ddb62020cc2dbd03 Mon Sep 17 00:00:00 2001
From: DzC-0i <11778119+DzC-0i@user.noreply.gitee.com>
Date: Fri, 29 Nov 2024 14:40:45 +0800
Subject: [PATCH 2/2] =?UTF-8?q?Update=20v1.0.10.2=20=E4=BF=AE=E6=94=B9?=
 =?UTF-8?q?=E7=94=B5=E6=9C=BA=E5=8F=8D=E9=A6=88=E5=B8=A7=E8=A7=A3=E7=A0=81?=
 =?UTF-8?q?=E5=87=BD=E6=95=B0=EF=BC=8C=E6=8F=90=E5=8F=96=E6=95=B0=E6=8D=AE?=
 =?UTF-8?q?=E4=BD=8D=E9=AB=98=E4=BD=8D?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Controller/driver/motors/dmbots/motor.py | 3 ++-
 README.md                                | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/Controller/driver/motors/dmbots/motor.py b/Controller/driver/motors/dmbots/motor.py
index bf45605..911b795 100644
--- a/Controller/driver/motors/dmbots/motor.py
+++ b/Controller/driver/motors/dmbots/motor.py
@@ -132,7 +132,7 @@ class Sync(threading.Thread):
             return numpy.uint16((value - min_value) * (((1 << bits) - 1) / (max_value - min_value)))
 
         def decode_response_frame(data):
-            status = (data[0] & 0x10) >> 4
+            status = (data[0] & 0xF0) >> 4
             position = uint_to_float((data[1] << 8) + data[2], -12.5, 12.5, 16)
             velocity = uint_to_float((data[3] << 4) + (data[4] >> 4), -30, 30, 12)
             torque = uint_to_float(((data[4] & 0x0F) << 8) + data[5], -10, 10, 12)
@@ -496,6 +496,7 @@ class Motor(MotorBase):
                 time.sleep(0.1)
                 # Clear Error
                 self.sync.clear_error()
+                time.sleep(0.1)
             # Switch motor control mode
             self.switch_control_mode(self.motor_control_mode)
             # Power on motor and set motion to PP mode
diff --git a/README.md b/README.md
index 394d153..96578c9 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,7 @@ Coarm机械臂底层运动控制库
 
 ### Update v1.0.10
 1. 修改motor中上一时刻速度取值细节
+2. 修改电机反馈帧解码函数，提取数据位高位
 
 ### Update v1.0.9
 1. 修改轨迹运动部分，在到位精度内关节不运动
-- 
Gitee