From 8073926ecabc5a968da300cc94d7816eef2ea6af Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Wed, 18 Dec 2024 18:34:26 +0900
Subject: [PATCH 01/18] =?UTF-8?q?motor=20set=20angle=20=EB=8F=99=EC=9E=91?=
 =?UTF-8?q?=20=EC=9D=B4=EC=8A=88=20=EC=88=98=EC=A0=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/output_module/motor.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/modi_plus/module/output_module/motor.py b/modi_plus/module/output_module/motor.py
index e680f4a..3bfcdd4 100644
--- a/modi_plus/module/output_module/motor.py
+++ b/modi_plus/module/output_module/motor.py
@@ -104,11 +104,17 @@ def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
         :return: None
         """
 
+        if (target_angle < 0 or target_angle > 360)\
+            or (target_speed < 0 or target_speed > 100):
+            return
+
         self._set_property(
             destination_id=self._id,
             property_num=Motor.PROPERTY_MOTOR_ANGLE,
             property_values=(("u16", target_angle),
-                             ("u16", target_speed), )
+                             ("u16", target_speed),
+                             ("u16", 0),
+                             ("u16", 0), )
         )
         time.sleep(0.01)
 

From 4fb1e21a0dfd27021d0771e0454d3b010001265f Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Wed, 18 Dec 2024 20:02:43 +0900
Subject: [PATCH 02/18] =?UTF-8?q?=ED=99=98=EA=B2=BD=20=EC=A1=B0=EB=8F=84?=
 =?UTF-8?q?=20=EC=9D=B4=EB=A6=84=20=EB=B3=80=EA=B2=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/input_module/env.py | 6 +++---
 modi_plus/util/inspection_util.py    | 4 ++--
 modi_plus/util/usage_util.py         | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/modi_plus/module/input_module/env.py b/modi_plus/module/input_module/env.py
index 90711e1..8eb16b2 100644
--- a/modi_plus/module/input_module/env.py
+++ b/modi_plus/module/input_module/env.py
@@ -14,10 +14,10 @@ class Env(InputModule):
     PROPERTY_OFFSET_VOLUME = 6
 
     @property
-    def intensity(self) -> int:
-        """Returns the value of intensity between 0 and 100
+    def illuminance(self) -> int:
+        """Returns the value of illuminance between 0 and 100
 
-        :return: The environment's intensity.
+        :return: The environment's illuminance.
         :rtype: int
         """
 
diff --git a/modi_plus/util/inspection_util.py b/modi_plus/util/inspection_util.py
index e18d8f1..ed6b4ea 100644
--- a/modi_plus/util/inspection_util.py
+++ b/modi_plus/util/inspection_util.py
@@ -106,13 +106,13 @@ def inspect_battery(self, module, i, nb_modules):
     def inspect_env(self, module, i, nb_modules):
         self.print_wrap(
             """
-            Environment module has intensity, temperature, humidity and volume as its property.
+            Environment module has illuminance, temperature, humidity and volume as its property.
             """
         )
         input("\nIf you are ready to inspect this module, Press ENTER: ")
         self.clear()
 
-        properties = ["intensity", "temperature", "humidity", "volume"]
+        properties = ["illuminance", "temperature", "humidity", "volume"]
 
         for prop in properties:
             self.print_module_page(module, i, nb_modules)
diff --git a/modi_plus/util/usage_util.py b/modi_plus/util/usage_util.py
index 814c37a..f3b21a2 100644
--- a/modi_plus/util/usage_util.py
+++ b/modi_plus/util/usage_util.py
@@ -135,7 +135,7 @@ def run_env_manual(self):
             env = bundle.envs[0]
 
             while True:
-                print(f"Env ({env.id}) intensity: {env.intensity}")
+                print(f"Env ({env.id}) illuminance: {env.illuminance}")
                 print(f"Env ({env.id}) temperature: {env.temperature}")
                 print(f"Env ({env.id}) humidity: {env.humidity}")
                 print(f"Env ({env.id}) volume: {env.volume}")

From 4e8d89511c91451905ff97d1b6ea73f370e0ac61 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Wed, 18 Dec 2024 20:11:26 +0900
Subject: [PATCH 03/18] =?UTF-8?q?imu=20roll=20pitch=20yaw=20=EC=9D=B4?=
 =?UTF-8?q?=EB=A6=84=EC=9D=84=20x,y,z=EB=A1=9C=20=EB=B3=80=EA=B2=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 examples/basic_usage_examples/imu_example.py |  6 ++---
 examples/creation_examples/brush.py          |  4 +--
 examples/creation_examples/dodge.py          |  6 ++---
 modi_plus/module/input_module/imu.py         | 26 ++++++++++----------
 modi_plus/module/setup_module/network.py     | 18 +++++++-------
 modi_plus/util/usage_util.py                 |  6 ++---
 tests/module/input_module/test_imu.py        | 20 +++++++--------
 tests/module/setup_module/test_network.py    | 18 +++++++-------
 8 files changed, 52 insertions(+), 52 deletions(-)

diff --git a/examples/basic_usage_examples/imu_example.py b/examples/basic_usage_examples/imu_example.py
index dd4282f..24d8af8 100644
--- a/examples/basic_usage_examples/imu_example.py
+++ b/examples/basic_usage_examples/imu_example.py
@@ -11,9 +11,9 @@
     imu = bundle.imus[0]
 
     while True:
-        print(f"Pitch: {imu.pitch:<10}"
-              f"Roll: {imu.roll:<10}"
-              f"Yaw: {imu.yaw:<10}"
+        print(f"Angle_y: {imu.angle_y:<10}"
+              f"Angle_x: {imu.angle_x:<10}"
+              f"Angle_z: {imu.angle_z:<10}"
               f"Vel x: {imu.angular_vel_x:<10}"
               f"Vel y: {imu.angular_vel_y:<10}"
               f"Vel z: {imu.angular_vel_z:<10}"
diff --git a/examples/creation_examples/brush.py b/examples/creation_examples/brush.py
index a525f72..cc2aa3b 100644
--- a/examples/creation_examples/brush.py
+++ b/examples/creation_examples/brush.py
@@ -15,8 +15,8 @@ def setup(self):
 
     def update(self):
         h, w = self.height // 2, self.width // 2
-        self.cursor.y = h - h * sin(radians(-self.imu.roll))
-        self.cursor.x = w - w * sin(radians(-self.imu.pitch))
+        self.cursor.y = h - h * sin(radians(-self.imu.angle_x))
+        self.cursor.x = w - w * sin(radians(-self.imu.angle_y))
         if self.button.pressed:
             self.add_object(Brush((self.cursor.x, self.cursor.y), "x"))
 
diff --git a/examples/creation_examples/dodge.py b/examples/creation_examples/dodge.py
index 0c0823e..e283d2b 100644
--- a/examples/creation_examples/dodge.py
+++ b/examples/creation_examples/dodge.py
@@ -34,10 +34,10 @@ def setup(self):
         self.fire.x, self.fire.y = 25, 20
 
     def update(self):
-        pitch = -self.imu.pitch
-        if pitch < -5 and self.player.x < 48:
+        angle_y = -self.imu.angle_y
+        if angle_y < -5 and self.player.x < 48:
             self.player.x += 30 * self.delta_time
-        elif pitch > 5 and self.player.x > 0:
+        elif angle_y > 5 and self.player.x > 0:
             self.player.x -= 30 * self.delta_time
         self.fire.y -= 15 * self.delta_time
         if self.fire.y < 0:
diff --git a/modi_plus/module/input_module/imu.py b/modi_plus/module/input_module/imu.py
index db9821f..b5a5dbe 100644
--- a/modi_plus/module/input_module/imu.py
+++ b/modi_plus/module/input_module/imu.py
@@ -24,10 +24,10 @@ class Imu(InputModule):
     PROPERTY_OFFSET_VIBRATION = 0
 
     @property
-    def roll(self) -> float:
-        """Returns the roll angle of the imu
+    def angle_x(self) -> float:
+        """Returns the angle_x angle of the imu
 
-        :return: The imu's roll angle.
+        :return: The imu's angle_x angle.
         :rtype: float
         """
 
@@ -37,10 +37,10 @@ def roll(self) -> float:
         return data
 
     @property
-    def pitch(self) -> float:
-        """Returns the pitch angle of the imu
+    def angle_y(self) -> float:
+        """Returns the angle_y angle of the imu
 
-        :return: The imu's pitch angle.
+        :return: The imu's angle_y angle.
         :rtype: float
         """
 
@@ -50,10 +50,10 @@ def pitch(self) -> float:
         return data
 
     @property
-    def yaw(self) -> float:
-        """Returns the yaw angle of the imu
+    def angle_z(self) -> float:
+        """Returns the angle_zle_z angle of the imu
 
-        :return: The imu's yaw angle.
+        :return: The imu's angle_z angle.
         :rtype: float
         """
 
@@ -64,17 +64,17 @@ def yaw(self) -> float:
 
     @property
     def angle(self) -> Tuple[float, float, float]:
-        """Returns the roll, pitch and yaw angle of the imu
+        """Returns the angle_x, angle_y and angle_z angle of the imu
 
-        :return: The imu's angles of roll, pitch and yaw.
+        :return: The imu's angles of angle_x, angle_y and angle_z.
         :rtype: tuple
         """
 
-        return self.roll, self.pitch, self.yaw
+        return self.angle_x, self.angle_y_y, self.angle_z
 
     @property
     def angular_vel_x(self) -> float:
-        """Returns the roll angle of the imu
+        """Returns the angle_x angle of the imu
 
         :return: The imu's angular velocity the about x-axis.
         :rtype: float
diff --git a/modi_plus/module/setup_module/network.py b/modi_plus/module/setup_module/network.py
index bf3bdc5..9a17cfc 100644
--- a/modi_plus/module/setup_module/network.py
+++ b/modi_plus/module/setup_module/network.py
@@ -245,10 +245,10 @@ def time_up(self) -> bool:
 
     @property
     @check_connection
-    def imu_roll(self) -> int:
-        """Returns the roll angle of the MODI Play imu
+    def imu_angle_x(self) -> int:
+        """Returns the angle_x angle of the MODI Play imu
 
-        :return: Roll angle.
+        :return: Angle_x angle.
         :rtype: int
         """
 
@@ -261,10 +261,10 @@ def imu_roll(self) -> int:
 
     @property
     @check_connection
-    def imu_pitch(self) -> int:
-        """Returns the pitch angle of the MODI Play imu
+    def imu_angle_y(self) -> int:
+        """Returns the angle_y angle of the MODI Play imu
 
-        :return: Pitch angle.
+        :return: Angle_y angle.
         :rtype: int
         """
 
@@ -277,10 +277,10 @@ def imu_pitch(self) -> int:
 
     @property
     @check_connection
-    def imu_yaw(self) -> int:
-        """Returns the yaw angle of the MODI Play imu
+    def imu_angle_zle_z(self) -> int:
+        """Returns the angle_z angle of the MODI Play imu
 
-        :return: Yaw angle.
+        :return: Angle_z angle.
         :rtype: int
         """
 
diff --git a/modi_plus/util/usage_util.py b/modi_plus/util/usage_util.py
index f3b21a2..fa8b347 100644
--- a/modi_plus/util/usage_util.py
+++ b/modi_plus/util/usage_util.py
@@ -154,9 +154,9 @@ def run_imu_manual(self):
             imu = bundle.imus[0]
 
             while True:
-                print(f"Gyro ({imu.id}) roll: {imu.roll}")
-                print(f"Gyro ({imu.id}) pitch: {imu.pitch}")
-                print(f"Gyro ({imu.id}) yaw: {imu.yaw}")
+                print(f"Gyro ({imu.id}) angle_x: {imu.angle_x}")
+                print(f"Gyro ({imu.id}) angle_y: {imu.angle_y}")
+                print(f"Gyro ({imu.id}) angle_z: {imu.angle_z}")
                 print(f"Gyro ({imu.id}) angular_vel_x: {imu.angular_vel_x}")
                 print(f"Gyro ({imu.id}) angular_vel_y: {imu.angular_vel_y}")
                 print(f"Gyro ({imu.id}) angular_vel_z: {imu.angular_vel_z}")
diff --git a/tests/module/input_module/test_imu.py b/tests/module/input_module/test_imu.py
index 9998c2e..1d23bfd 100644
--- a/tests/module/input_module/test_imu.py
+++ b/tests/module/input_module/test_imu.py
@@ -20,30 +20,30 @@ def tearDown(self):
 
         del self.imu
 
-    def test_get_roll(self):
-        """Test get_roll method."""
+    def test_get_angle_x(self):
+        """Test get_angle_x method."""
 
-        _ = self.imu.roll
+        _ = self.imu.angle_x
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
         )
         self.assertEqual(_, 0.0)
 
-    def test_get_pitch(self):
-        """Test get_pitch method."""
+    def test_get_angle_y(self):
+        """Test get_angle_y method."""
 
-        _ = self.imu.pitch
+        _ = self.imu.angle_y
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
         )
         self.assertEqual(_, 0.0)
 
-    def test_get_yaw(self):
-        """Test get_yaw method."""
+    def test_get_angle_z(self):
+        """Test get_angle_z method."""
 
-        _ = self.imu.yaw
+        _ = self.imu.angle_z
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
@@ -121,7 +121,7 @@ def test_get_vibration(self):
         self.assertEqual(_, 0.0)
 
     def test_get_angle(self):
-        """Test get_yaw method."""
+        """Test get_angle_z method."""
 
         _ = self.imu.angle
         self.assertEqual(
diff --git a/tests/module/setup_module/test_network.py b/tests/module/setup_module/test_network.py
index 7a7f7ca..aa7abc3 100644
--- a/tests/module/setup_module/test_network.py
+++ b/tests/module/setup_module/test_network.py
@@ -110,30 +110,30 @@ def test_time_up(self):
         )
         self.assertEqual(_, False)
 
-    def test_imu_roll(self):
-        """Test imu_roll method."""
+    def test_imu_angle_x(self):
+        """Test imu_angle_x method."""
 
-        _ = self.network.imu_roll
+        _ = self.network.imu_angle_x
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
         )
         self.assertEqual(_, 0)
 
-    def test_imu_pitch(self):
-        """Test imu_pitch method."""
+    def test_imu_angle_y(self):
+        """Test imu_angle_y method."""
 
-        _ = self.network.imu_pitch
+        _ = self.network.imu_angle_y
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
         )
         self.assertEqual(_, 0)
 
-    def test_imu_yaw(self):
-        """Test imu_yaw method."""
+    def test_imu_angle_z(self):
+        """Test imu_angle_z method."""
 
-        _ = self.network.imu_yaw
+        _ = self.network.imu_angle_z
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)

From 210998351f8940c2a66209243043351e4ea62a57 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 19 Dec 2024 09:51:02 +0900
Subject: [PATCH 04/18] =?UTF-8?q?unit=20test=20=EC=98=A4=EB=A5=98=20?=
 =?UTF-8?q?=EC=88=98=EC=A0=951?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 examples/basic_usage_examples/env_example.py |  2 +-
 modi_plus/module/input_module/env.py         |  4 ++--
 modi_plus/module/input_module/imu.py         |  2 +-
 tests/module/input_module/test_env.py        |  6 +++---
 tests/module/output_module/test_motor.py     |  5 ++++-
 tests/module/setup_module/test_network.py    | 18 +++++++++---------
 6 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/examples/basic_usage_examples/env_example.py b/examples/basic_usage_examples/env_example.py
index 20e8563..866f207 100644
--- a/examples/basic_usage_examples/env_example.py
+++ b/examples/basic_usage_examples/env_example.py
@@ -12,5 +12,5 @@
 
     while True:
         print(f"humidity(%): {env.humidity:<10} temperature(°C): {env.temperature:<10} "
-              f"intensity(%): {env.intensity:<10} Volume(%): {env.volume:<10}", end="\r")
+              f"illuminance(%): {env.illuminance:<10} Volume(%): {env.volume:<10}", end="\r")
         time.sleep(0.02)
diff --git a/modi_plus/module/input_module/env.py b/modi_plus/module/input_module/env.py
index 8eb16b2..1569d03 100644
--- a/modi_plus/module/input_module/env.py
+++ b/modi_plus/module/input_module/env.py
@@ -8,7 +8,7 @@ class Env(InputModule):
 
     PROPERTY_ENV_STATE = 2
 
-    PROPERTY_OFFSET_INTENSICY = 0
+    PROPERTY_OFFSET_ILLUMINANCE = 0
     PROPERTY_OFFSET_TEMPERATURE = 2
     PROPERTY_OFFSET_HUMIDITY = 4
     PROPERTY_OFFSET_VOLUME = 6
@@ -21,7 +21,7 @@ def illuminance(self) -> int:
         :rtype: int
         """
 
-        offset = Env.PROPERTY_OFFSET_INTENSICY
+        offset = Env.PROPERTY_OFFSET_ILLUMINANCE
         raw = self._get_property(Env.PROPERTY_ENV_STATE)
         data = struct.unpack("h", raw[offset:offset + 2])[0]
         return data
diff --git a/modi_plus/module/input_module/imu.py b/modi_plus/module/input_module/imu.py
index b5a5dbe..c469a76 100644
--- a/modi_plus/module/input_module/imu.py
+++ b/modi_plus/module/input_module/imu.py
@@ -70,7 +70,7 @@ def angle(self) -> Tuple[float, float, float]:
         :rtype: tuple
         """
 
-        return self.angle_x, self.angle_y_y, self.angle_z
+        return self.angle_x, self.angle_y, self.angle_z
 
     @property
     def angular_vel_x(self) -> float:
diff --git a/tests/module/input_module/test_env.py b/tests/module/input_module/test_env.py
index 811ba8b..14a7369 100644
--- a/tests/module/input_module/test_env.py
+++ b/tests/module/input_module/test_env.py
@@ -40,10 +40,10 @@ def test_get_humidity(self):
         )
         self.assertEqual(_, 0)
 
-    def test_get_intensity(self):
-        """Test get_intensity method."""
+    def test_get_illuminance(self):
+        """Test get_illuminance method."""
 
-        _ = self.env.intensity
+        _ = self.env.illuminance
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Env.PROPERTY_ENV_STATE, self.env.prop_samp_freq)
diff --git a/tests/module/output_module/test_motor.py b/tests/module/output_module/test_motor.py
index d57c8f4..0e6c15c 100644
--- a/tests/module/output_module/test_motor.py
+++ b/tests/module/output_module/test_motor.py
@@ -61,7 +61,10 @@ def test_set_angle(self):
         self.motor.angle = mock_angle, mock_speed
         set_message = parse_set_property_message(
             -1, Motor.PROPERTY_MOTOR_ANGLE,
-            (("u16", mock_angle), ("u16", mock_speed), )
+            (("u16", mock_angle),
+             ("u16", mock_speed),
+             ("u16", 0),
+             ("u16", 0), )
         )
         sent_messages = []
         while self.connection.send_list:
diff --git a/tests/module/setup_module/test_network.py b/tests/module/setup_module/test_network.py
index aa7abc3..7a7f7ca 100644
--- a/tests/module/setup_module/test_network.py
+++ b/tests/module/setup_module/test_network.py
@@ -110,30 +110,30 @@ def test_time_up(self):
         )
         self.assertEqual(_, False)
 
-    def test_imu_angle_x(self):
-        """Test imu_angle_x method."""
+    def test_imu_roll(self):
+        """Test imu_roll method."""
 
-        _ = self.network.imu_angle_x
+        _ = self.network.imu_roll
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
         )
         self.assertEqual(_, 0)
 
-    def test_imu_angle_y(self):
-        """Test imu_angle_y method."""
+    def test_imu_pitch(self):
+        """Test imu_pitch method."""
 
-        _ = self.network.imu_angle_y
+        _ = self.network.imu_pitch
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
         )
         self.assertEqual(_, 0)
 
-    def test_imu_angle_z(self):
-        """Test imu_angle_z method."""
+    def test_imu_yaw(self):
+        """Test imu_yaw method."""
 
-        _ = self.network.imu_angle_z
+        _ = self.network.imu_yaw
         self.assertEqual(
             self.connection.send_list[0],
             parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)

From 5e02e64fcd0a6958ff4fc4b45ab78c32b201c93c Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 19 Dec 2024 10:34:36 +0900
Subject: [PATCH 05/18] =?UTF-8?q?python=203.7=20=EC=A0=9C=EA=B1=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/unit_test_macos.yml   | 2 +-
 .github/workflows/unit_test_ubuntu.yml  | 2 +-
 .github/workflows/unit_test_windows.yml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/unit_test_macos.yml b/.github/workflows/unit_test_macos.yml
index 7ac2221..bcae973 100644
--- a/.github/workflows/unit_test_macos.yml
+++ b/.github/workflows/unit_test_macos.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/unit_test_ubuntu.yml b/.github/workflows/unit_test_ubuntu.yml
index aa9f51c..1b2a043 100644
--- a/.github/workflows/unit_test_ubuntu.yml
+++ b/.github/workflows/unit_test_ubuntu.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/unit_test_windows.yml b/.github/workflows/unit_test_windows.yml
index 0c4cc29..b1459d5 100644
--- a/.github/workflows/unit_test_windows.yml
+++ b/.github/workflows/unit_test_windows.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2

From 6c209234bfb6de240c77221fedfa6dd912581128 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 19 Dec 2024 10:39:20 +0900
Subject: [PATCH 06/18] =?UTF-8?q?network=20imu=20=EB=A1=A4=EB=B0=B1?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/setup_module/network.py | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/modi_plus/module/setup_module/network.py b/modi_plus/module/setup_module/network.py
index 9a17cfc..bf3bdc5 100644
--- a/modi_plus/module/setup_module/network.py
+++ b/modi_plus/module/setup_module/network.py
@@ -245,10 +245,10 @@ def time_up(self) -> bool:
 
     @property
     @check_connection
-    def imu_angle_x(self) -> int:
-        """Returns the angle_x angle of the MODI Play imu
+    def imu_roll(self) -> int:
+        """Returns the roll angle of the MODI Play imu
 
-        :return: Angle_x angle.
+        :return: Roll angle.
         :rtype: int
         """
 
@@ -261,10 +261,10 @@ def imu_angle_x(self) -> int:
 
     @property
     @check_connection
-    def imu_angle_y(self) -> int:
-        """Returns the angle_y angle of the MODI Play imu
+    def imu_pitch(self) -> int:
+        """Returns the pitch angle of the MODI Play imu
 
-        :return: Angle_y angle.
+        :return: Pitch angle.
         :rtype: int
         """
 
@@ -277,10 +277,10 @@ def imu_angle_y(self) -> int:
 
     @property
     @check_connection
-    def imu_angle_zle_z(self) -> int:
-        """Returns the angle_z angle of the MODI Play imu
+    def imu_yaw(self) -> int:
+        """Returns the yaw angle of the MODI Play imu
 
-        :return: Angle_z angle.
+        :return: Yaw angle.
         :rtype: int
         """
 

From 112883ee3e34624687a440282bfeb1ade5b73a18 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 19 Dec 2024 10:43:44 +0900
Subject: [PATCH 07/18] =?UTF-8?q?PEP8=20=EA=B7=9C=EC=B9=99=20=EC=A0=81?=
 =?UTF-8?q?=EC=9A=A9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/output_module/motor.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modi_plus/module/output_module/motor.py b/modi_plus/module/output_module/motor.py
index 3bfcdd4..97923db 100644
--- a/modi_plus/module/output_module/motor.py
+++ b/modi_plus/module/output_module/motor.py
@@ -104,8 +104,8 @@ def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
         :return: None
         """
 
-        if (target_angle < 0 or target_angle > 360)\
-            or (target_speed < 0 or target_speed > 100):
+        if ((target_angle < 0 or target_angle > 360) or
+            (target_speed < 0 or target_speed > 100)):
             return
 
         self._set_property(

From d1fb9048e560362dd1e529db7ce7db4de3db645b Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 19 Dec 2024 10:49:21 +0900
Subject: [PATCH 08/18] =?UTF-8?q?E129=20=EC=98=A4=EB=A5=98=20=EC=88=98?=
 =?UTF-8?q?=EC=A0=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/output_module/motor.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/modi_plus/module/output_module/motor.py b/modi_plus/module/output_module/motor.py
index 97923db..2795b8c 100644
--- a/modi_plus/module/output_module/motor.py
+++ b/modi_plus/module/output_module/motor.py
@@ -104,8 +104,10 @@ def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
         :return: None
         """
 
-        if ((target_angle < 0 or target_angle > 360) or
-            (target_speed < 0 or target_speed > 100)):
+        invalid_angle = (target_angle < 0 or target_angle > 360)
+        invalid_speed = (target_speed < 0 or target_speed > 100)
+
+        if invalid_angle or invalid_speed:
             return
 
         self._set_property(

From 1b06ba0670f1d4acdadc48351f94c8f6eb1dddaf Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 24 Dec 2024 09:18:06 +0900
Subject: [PATCH 09/18] =?UTF-8?q?display=20=EB=B3=80=EC=88=98=20=EC=B6=9C?=
 =?UTF-8?q?=EB=A0=A5=20=EC=8B=9C=20line=20=EC=84=A4=EC=A0=95=20=EA=B0=80?=
 =?UTF-8?q?=EB=8A=A5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../basic_usage_examples/display_example.py   |  2 +-
 modi_plus/module/output_module/display.py     | 36 +++++++++++++++----
 tests/module/output_module/test_display.py    | 22 ++++++++++--
 3 files changed, 50 insertions(+), 10 deletions(-)

diff --git a/examples/basic_usage_examples/display_example.py b/examples/basic_usage_examples/display_example.py
index 22cd467..1460e20 100644
--- a/examples/basic_usage_examples/display_example.py
+++ b/examples/basic_usage_examples/display_example.py
@@ -17,7 +17,7 @@
     pos = (20, 30)
 
     for i in range(500):
-        display.write_variable(0, pos[0], pos[1])
+        display.write_variable_xy(pos[0], pos[1], 0)
         pos = (pos[0] + vel[0], pos[1] + vel[1])
         if pos[0] < 0 or pos[0] > 40:
             vel = (-vel[0], vel[1])
diff --git a/modi_plus/module/output_module/display.py b/modi_plus/module/output_module/display.py
index c46f139..aa89098 100644
--- a/modi_plus/module/output_module/display.py
+++ b/modi_plus/module/output_module/display.py
@@ -216,7 +216,7 @@ def write_text(self, text: str) -> None:
         self._text = text
         time.sleep(0.02 + 0.003 * len(encoding_data))
 
-    def write_variable(self, x: int, y: int, variable: float) -> None:
+    def write_variable_xy(self, x: int, y: int, variable: float) -> None:
         """Show the input variable on the display.
 
         :param x: X coordinate of the desired position
@@ -227,13 +227,31 @@ def write_variable(self, x: int, y: int, variable: float) -> None:
         :type variable: float
         :return: None
         """
-
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
             property_values=(("u8", x),
-                             ("u8", y),
-                             ("float", variable), )
+                            ("u8", y),
+                            ("float", variable), )
+        )
+        self._text += str(variable)
+        time.sleep(0.01)
+
+    def write_variable_line(self, line: int, variable: float) -> None:
+        """Show the input variable on the display.
+
+        :param line: display line number of the desired position
+        :type line: int
+        :param variable: Variable to display.
+        :type variable: float
+        :return: None
+        """
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            property_values=(("u8", 0),
+                            ("u8", line * 20),
+                            ("float", variable), )
         )
         self._text += str(variable)
         time.sleep(0.01)
@@ -326,16 +344,22 @@ def move_screen(self, x: int, y: int) -> None:
         )
         time.sleep(0.01)
 
-    def reset(self) -> None:
+    def reset(self, mode=0) -> None:
         """Clear the screen.
 
+        :param mode: Erase mode
+            - mode 0 : Erase inside buffer(it looks like nothing has changed)
+            - mode 1 : Erase display
         :return: None
         """
 
+        if mode > 1:
+            mode = 0
+
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_RESET,
-            property_values=(("u8", 0), )
+            property_values=(("u8", mode), )
         )
         self._text = ""
         time.sleep(0.01)
diff --git a/tests/module/output_module/test_display.py b/tests/module/output_module/test_display.py
index 1b265d4..7f3a1c9 100644
--- a/tests/module/output_module/test_display.py
+++ b/tests/module/output_module/test_display.py
@@ -44,12 +44,12 @@ def test_write_text(self):
             self.assertTrue(set_message in sent_messages)
         self.assertEqual(self.display.text, mock_text)
 
-    def test_write_variable(self):
-        """Test write_variable method."""
+    def test_write_variable_xy(self):
+        """Test write_variable_xy method."""
 
         mock_variable = 123
         mock_position = 5
-        self.display.write_variable(mock_position, mock_position, mock_variable)
+        self.display.write_variable_xy(mock_position, mock_position, mock_variable)
         set_message = parse_set_property_message(
             -1, Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
             (("u8", mock_position), ("u8", mock_position),
@@ -60,6 +60,22 @@ def test_write_variable(self):
             sent_messages.append(self.connection.send_list.pop())
         self.assertTrue(set_message in sent_messages)
 
+    def test_write_variable_line(self):
+        """Test write_variable_line method."""
+
+        mock_variable = 123
+        mock_line = 2
+        self.display.write_variable_line(mock_line, mock_variable)
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            (("u8", 0), ("u8", mock_line * 20),
+             ("float", mock_variable), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
     def test_draw_picture(self):
         """Test draw_picture method."""
 

From ad29db0af7515283e6fdb4e9c527dfe334c1e137 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 24 Dec 2024 09:28:44 +0900
Subject: [PATCH 10/18] =?UTF-8?q?display=20move=20=ED=95=A8=EC=88=98=20?=
 =?UTF-8?q?=EC=A0=9C=EA=B1=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/module/output_module/display.py  | 26 ++++------------------
 tests/module/output_module/test_display.py | 15 -------------
 2 files changed, 4 insertions(+), 37 deletions(-)

diff --git a/modi_plus/module/output_module/display.py b/modi_plus/module/output_module/display.py
index aa89098..848185c 100644
--- a/modi_plus/module/output_module/display.py
+++ b/modi_plus/module/output_module/display.py
@@ -231,8 +231,8 @@ def write_variable_xy(self, x: int, y: int, variable: float) -> None:
             self._id,
             Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
             property_values=(("u8", x),
-                            ("u8", y),
-                            ("float", variable), )
+                             ("u8", y),
+                             ("float", variable), )
         )
         self._text += str(variable)
         time.sleep(0.01)
@@ -250,8 +250,8 @@ def write_variable_line(self, line: int, variable: float) -> None:
             self._id,
             Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
             property_values=(("u8", 0),
-                            ("u8", line * 20),
-                            ("float", variable), )
+                             ("u8", line * 20),
+                             ("float", variable), )
         )
         self._text += str(variable)
         time.sleep(0.01)
@@ -326,24 +326,6 @@ def set_offset(self, x: int, y: int) -> None:
         )
         time.sleep(0.01)
 
-    def move_screen(self, x: int, y: int) -> None:
-        """Move the screen by x and y
-
-        :param x: X-axis movement value
-        :type x: int
-        :param y: Y-axis movement value
-        :type y: int
-        :return: None
-        """
-
-        self._set_property(
-            self.id,
-            Display.PROPERTY_DISPLAY_MOVE_SCREEN,
-            property_values=(("s8", x), ("s8", y), ),
-            force=True
-        )
-        time.sleep(0.01)
-
     def reset(self, mode=0) -> None:
         """Clear the screen.
 
diff --git a/tests/module/output_module/test_display.py b/tests/module/output_module/test_display.py
index 7f3a1c9..f0dad31 100644
--- a/tests/module/output_module/test_display.py
+++ b/tests/module/output_module/test_display.py
@@ -132,21 +132,6 @@ def test_set_offset(self):
             sent_messages.append(self.connection.send_list.pop())
         self.assertTrue(set_message in sent_messages)
 
-    def test_move_screen(self):
-        """Test move_screen method."""
-
-        mock_x = 10
-        mock_y = 20
-        self.display.move_screen(mock_x, mock_y)
-        set_message = parse_set_property_message(
-            -1, Display.PROPERTY_DISPLAY_MOVE_SCREEN,
-            (("s8", mock_x), ("s8", mock_y), )
-        )
-        sent_messages = []
-        while self.connection.send_list:
-            sent_messages.append(self.connection.send_list.pop())
-        self.assertTrue(set_message in sent_messages)
-
     def test_reset(self):
         """Test reset method."""
 

From 7ccce757ab3928765c533283fec30dd8c318606a Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 26 Dec 2024 08:55:47 +0900
Subject: [PATCH 11/18] =?UTF-8?q?=EC=BD=94=EB=93=9C=20=EB=8F=99=EC=9E=91?=
 =?UTF-8?q?=20=EC=8B=9C=20=EC=9D=B8=ED=84=B0=ED=94=84=EB=A6=AC=ED=84=B0=20?=
 =?UTF-8?q?=EC=82=AD=EC=A0=9C?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/task/exe_task.py | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/modi_plus/task/exe_task.py b/modi_plus/task/exe_task.py
index 46b50eb..0cb92e8 100644
--- a/modi_plus/task/exe_task.py
+++ b/modi_plus/task/exe_task.py
@@ -80,9 +80,12 @@ def __update_health(self, message):
             module.last_updated_time = curr_time
             module.is_connected = True
 
-            if module.module_type == "network" and message["l"] == 5:
-                _, dir = unpack_data(message["b"], (4, 1))
-                if dir == 1:
+            if module.module_type == "network" and message["l"] == 6:
+                _, dir = unpack_data(message["b"], (5, 1))
+
+                # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제제
+                if dir & 2 and module.is_usb_connected is False:
+                    self.__request_erase_interpreter()
                     module.is_usb_connected = True
 
             # 일반 모듈의 OS 버전이 1.3.1 이상일 경우, health data에 pnp on/off 상태가 포함되어 있다.
@@ -206,3 +209,6 @@ def __request_find_network_id(self, id=BROADCAST_ID):
 
     def __request_esp_version(self, id):
         self._connection.send_nowait(parse_message(0xA0, 25, id, (0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF)))
+
+    def __request_erase_interpreter(self):
+        self._connection.send_nowait(parse_message(160, 80, 4095, (0, 0, 0, 0, 0, 0, 0, 0)))

From ef57722200ef7d484884535bea5b6db87c84c2c0 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 26 Dec 2024 10:51:55 +0900
Subject: [PATCH 12/18] =?UTF-8?q?build=EC=9A=A9=20manifest=20=EC=88=98?=
 =?UTF-8?q?=EC=A0=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MANIFEST.in | 1 +
 1 file changed, 1 insertion(+)

diff --git a/MANIFEST.in b/MANIFEST.in
index 3d11e76..6132c3b 100644
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -7,6 +7,7 @@ include README.md
 include about.py
 
 include requirements.txt
+include requirements-dev.txt
 
 recursive-include modi_plus/assets *
 recursive-include modi_plus/task/ble_task *

From ba588c59de5dc78d11702e2cb35b8dd7b5d448db Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 31 Dec 2024 11:16:19 +0900
Subject: [PATCH 13/18] =?UTF-8?q?v1.3.0-rc1=20=EB=B0=B0=ED=8F=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/about.py                         | 2 +-
 modi_plus/module/output_module/display.py  | 6 +++---
 setup.cfg                                  | 2 +-
 tests/module/output_module/test_display.py | 7 ++-----
 4 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/modi_plus/about.py b/modi_plus/about.py
index 99079e9..902d837 100644
--- a/modi_plus/about.py
+++ b/modi_plus/about.py
@@ -1,5 +1,5 @@
 __title__ = "pymodi-plus"
-__version__ = "0.3.0"
+__version__ = "0.3.1"
 __author__ = "LUXROBO"
 __email__ = "module.dev@luxrobo.com"
 __description__ = "Python API for controlling modular electronics, MODI+."
diff --git a/modi_plus/module/output_module/display.py b/modi_plus/module/output_module/display.py
index 848185c..1823e8c 100644
--- a/modi_plus/module/output_module/display.py
+++ b/modi_plus/module/output_module/display.py
@@ -256,7 +256,7 @@ def write_variable_line(self, line: int, variable: float) -> None:
         self._text += str(variable)
         time.sleep(0.01)
 
-    def draw_picture(self, x: int, y: int, name: int) -> None:
+    def draw_picture(self, name: int) -> None:
         """Clears the display and show the input picture on the display.
 
         :param x: X coordinate of the desired position
@@ -275,8 +275,8 @@ def draw_picture(self, x: int, y: int, name: int) -> None:
         self._set_property(
             self._id,
             Display.PROPERTY_DISPLAY_DRAW_PICTURE,
-            property_values=(("u8", x),
-                             ("u8", y),
+            property_values=(("u8", 0),
+                             ("u8", 0),
                              ("u8", Display.WIDTH),
                              ("u8", Display.HEIGHT),
                              ("string", file_name), )
diff --git a/setup.cfg b/setup.cfg
index 1fa93ed..69ec257 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 1.2.0
+current_version = 1.3.0
 commit = True
 tag = False
 
diff --git a/tests/module/output_module/test_display.py b/tests/module/output_module/test_display.py
index f0dad31..e854340 100644
--- a/tests/module/output_module/test_display.py
+++ b/tests/module/output_module/test_display.py
@@ -79,14 +79,11 @@ def test_write_variable_line(self):
     def test_draw_picture(self):
         """Test draw_picture method."""
 
-        mock_x = 12
-        mock_y = 34
         mock_name = Display.preset_pictures()[0]
-        self.display.draw_picture(mock_x, mock_y, mock_name)
+        self.display.draw_picture(mock_name)
         set_message = parse_set_property_message(
             -1, Display.PROPERTY_DISPLAY_DRAW_PICTURE,
-            (("u8", mock_x), ("u8", mock_y),
-             ("u8", Display.WIDTH), ("u8", Display.HEIGHT),
+            (("u8", Display.WIDTH), ("u8", Display.HEIGHT),
              ("string", Display.PRESET_PICTURE[mock_name]), )
         )
         sent_messages = []

From 30eefbcd4d2e90a8d342841037fdc6e697f1e555 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 31 Dec 2024 11:19:42 +0900
Subject: [PATCH 14/18] =?UTF-8?q?test=20function=20=EC=98=A4=EB=A5=98=20?=
 =?UTF-8?q?=EC=88=98=EC=A0=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 release_notes.md                           | 17 +++++++++++++++++
 tests/module/output_module/test_display.py |  3 ++-
 2 files changed, 19 insertions(+), 1 deletion(-)
 create mode 100644 release_notes.md

diff --git a/release_notes.md b/release_notes.md
new file mode 100644
index 0000000..50a3554
--- /dev/null
+++ b/release_notes.md
@@ -0,0 +1,17 @@
+# Version
+
+v1.3.0
+
+# Feature
+### Display
+1. draw_picture 함수 좌표 인자 제거
+2. draw_variable 함수 제거
+3. write_variable_xy 함수 추가 - write_variable_xy(0, 0, variable)
+4. write_variable_line 함수 추가 - write_variable_line(0, variable)
+
+### Environment
+1. intensity 이름 illuminance로 변경
+
+### IMU
+1. roll, pitch, yaw 이름 x, y, z로 변경
+
diff --git a/tests/module/output_module/test_display.py b/tests/module/output_module/test_display.py
index e854340..94dcd5f 100644
--- a/tests/module/output_module/test_display.py
+++ b/tests/module/output_module/test_display.py
@@ -83,7 +83,8 @@ def test_draw_picture(self):
         self.display.draw_picture(mock_name)
         set_message = parse_set_property_message(
             -1, Display.PROPERTY_DISPLAY_DRAW_PICTURE,
-            (("u8", Display.WIDTH), ("u8", Display.HEIGHT),
+            (("u8", 0), ("u8", 0),
+             ("u8", Display.WIDTH), ("u8", Display.HEIGHT),
              ("string", Display.PRESET_PICTURE[mock_name]), )
         )
         sent_messages = []

From 15ef764efd68bacfb8f1202207e5796b3ceae508 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 2 Jan 2025 20:29:50 +0900
Subject: [PATCH 15/18] =?UTF-8?q?v1.3.0-rc2=20=EB=B0=B0=ED=8F=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 modi_plus/about.py         | 2 +-
 modi_plus/task/exe_task.py | 3 ++-
 setup.cfg                  | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/modi_plus/about.py b/modi_plus/about.py
index 902d837..cfa4fb6 100644
--- a/modi_plus/about.py
+++ b/modi_plus/about.py
@@ -1,5 +1,5 @@
 __title__ = "pymodi-plus"
-__version__ = "0.3.1"
+__version__ = "0.3.1-rc2"
 __author__ = "LUXROBO"
 __email__ = "module.dev@luxrobo.com"
 __description__ = "Python API for controlling modular electronics, MODI+."
diff --git a/modi_plus/task/exe_task.py b/modi_plus/task/exe_task.py
index 0cb92e8..26f9e7a 100644
--- a/modi_plus/task/exe_task.py
+++ b/modi_plus/task/exe_task.py
@@ -86,6 +86,7 @@ def __update_health(self, message):
                 # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제제
                 if dir & 2 and module.is_usb_connected is False:
                     self.__request_erase_interpreter()
+                    self.__request_reboot()
                     module.is_usb_connected = True
 
             # 일반 모듈의 OS 버전이 1.3.1 이상일 경우, health data에 pnp on/off 상태가 포함되어 있다.
@@ -104,7 +105,7 @@ def __update_health(self, message):
 
         # Disconnect module with no health message for more than 2 second
         for module in self._modules:
-            if curr_time - module.last_updated_time > 2:
+            if (curr_time - module.last_updated_time > 2) and (module.is_connected is True):
                 module.is_connected = False
                 module._last_set_message = None
 
diff --git a/setup.cfg b/setup.cfg
index 69ec257..649334e 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -3,7 +3,7 @@ current_version = 1.3.0
 commit = True
 tag = False
 
-[bumpversion:file:./modi/about.py]
+[bumpversion:file:./modi_plus/about.py]
 search = __version__ = "{current_version}"
 replace = __version__ = "{new_version}"
 

From 6c31a1e7c7abf4b7bf50ada31ccb2cac7ee46ee6 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Thu, 2 Jan 2025 21:03:30 +0900
Subject: [PATCH 16/18] =?UTF-8?q?v1.3.1-rc3=20=EB=B0=B0=ED=8F=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

재부팅 딜레이 추가
---
 modi_plus/task/exe_task.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/modi_plus/task/exe_task.py b/modi_plus/task/exe_task.py
index 26f9e7a..03294a7 100644
--- a/modi_plus/task/exe_task.py
+++ b/modi_plus/task/exe_task.py
@@ -83,10 +83,11 @@ def __update_health(self, message):
             if module.module_type == "network" and message["l"] == 6:
                 _, dir = unpack_data(message["b"], (5, 1))
 
-                # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제제
+                # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제
                 if dir & 2 and module.is_usb_connected is False:
                     self.__request_erase_interpreter()
-                    self.__request_reboot()
+                    self.__request_reboot(BROADCAST_ID)
+                    time.sleep(1)
                     module.is_usb_connected = True
 
             # 일반 모듈의 OS 버전이 1.3.1 이상일 경우, health data에 pnp on/off 상태가 포함되어 있다.

From 8fad8702eab3f363602d855ea9af4ec9f351cc17 Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 7 Jan 2025 10:34:00 +0900
Subject: [PATCH 17/18] v0.3.1 release

---
 modi_plus/about.py | 2 +-
 release_notes.md   | 7 ++++++-
 setup.cfg          | 2 +-
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/modi_plus/about.py b/modi_plus/about.py
index cfa4fb6..902d837 100644
--- a/modi_plus/about.py
+++ b/modi_plus/about.py
@@ -1,5 +1,5 @@
 __title__ = "pymodi-plus"
-__version__ = "0.3.1-rc2"
+__version__ = "0.3.1"
 __author__ = "LUXROBO"
 __email__ = "module.dev@luxrobo.com"
 __description__ = "Python API for controlling modular electronics, MODI+."
diff --git a/release_notes.md b/release_notes.md
index 50a3554..c53303a 100644
--- a/release_notes.md
+++ b/release_notes.md
@@ -1,8 +1,12 @@
 # Version
 
-v1.3.0
+v1.3.1
 
 # Feature
+### Pymodi+
+1. 코드 동작 시 인터프리터 코드 제거
+
+---
 ### Display
 1. draw_picture 함수 좌표 인자 제거
 2. draw_variable 함수 제거
@@ -15,3 +19,4 @@ v1.3.0
 ### IMU
 1. roll, pitch, yaw 이름 x, y, z로 변경
 
+
diff --git a/setup.cfg b/setup.cfg
index 649334e..a721edb 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 1.3.0
+current_version = 1.3.1
 commit = True
 tag = False
 

From a3cb761d53ef90f60027ee60b4a462e915161b4b Mon Sep 17 00:00:00 2001
From: josep <boobooboo2@naver.com>
Date: Tue, 7 Jan 2025 10:42:07 +0900
Subject: [PATCH 18/18] =?UTF-8?q?python=20=EB=B2=84=EC=A0=84=20=EC=A0=95?=
 =?UTF-8?q?=EB=B3=B4=20=EC=88=98=EC=A0=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/build.yml  | 2 +-
 .github/workflows/deploy.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index de5cd36..6671f87 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -10,7 +10,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+        python-version: ['3.8', '3.9', '3.10', '3.11']
 
     steps:
     - uses: actions/checkout@v2
diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
index e64f844..631d215 100644
--- a/.github/workflows/deploy.yml
+++ b/.github/workflows/deploy.yml
@@ -19,7 +19,7 @@ jobs:
     - name: Install Python
       uses: actions/setup-python@v2
       with:
-        python-version: '3.7'
+        python-version: '3.8'
         architecture: 'x64'
 
     - name: install-dependencies