fix v4.1 bugs

Author: previ

api.py

@@ -23,7 +23,7 @@
 bot_config = Config.get()
 bot = CoderBot.get_instance(
     motor_trim_factor=float(bot_config.get("move_motor_trim", 1.0)),
-    encoder=bool(bot_config.get("encoder"))
+    hw_version=bot_config.get("hw_version")
 )
 
 def get_serial():

coderbot.py

@@ -152,9 +152,9 @@ def exit(self):
             s.cancel()
 
     @classmethod
-    def get_instance(cls, motor_trim_factor=1.0, encoder=True, servo=False):
+    def get_instance(cls, motor_trim_factor=1.0, hw_version="5", servo=False):
         if not cls.the_bot:
-            cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, encoder=encoder)
+            cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, hw_version=hw_version)
         return cls.the_bot
 
     def move(self, speed=100, elapse=0, distance=0):