Python library for Dobot Magician

Based on Communication Protocol V1.1.5 (latest version here)

This is a Fork of Github Repo: here

Documentation: documentation

Installation

Install driver from https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers.

pip install dobotWrapperPy

Example

from serial.tools import list_ports

import dobotWrapperPy

available_ports = list_ports.comports()
print(f'available ports: {[x.device for x in available_ports]}')
port = available_ports[0].device

device = dobotWrapperPy.Dobot(port=port, verbose=True)

(x, y, z, r, j1, j2, j3, j4) = device.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')

device.move_to(x + 20, y, z, r, wait=False)
device.move_to(x, y, z, r, wait=True)  # we wait until this movement is done before continuing

device.close()

Methods

• Dobot(port, verbose=False) Creates an instance of dobot connected to given serial port.

  • port: string with name of serial port to connect
  • verbose: bool will print to console all serial comms

• .pose() Returns the current pose of dobot, as a tuple (x, y, z, r, j1, j2, j3, j4)

  • x: float current x cartesian coordinate
  • y: float current y cartesian coordinate
  • z: float current z cartesian coordinate
  • r: float current effector rotation
  • j1: float current joint 1 angle
  • j2: float current joint 2 angle
  • j3: float current joint 3 angle
  • j4: float current joint 4 angle

• .move_to(x, y, z, r, wait=False) queues a translation in dobot to given coordinates

  • x: float x cartesian coordinate to move
  • y: float y cartesian coordinate to move
  • z: float z cartesian coordinate to move
  • r: float r effector rotation
  • wait: bool waits until command has been executed to return to process

• .speed(velocity, acceleration) changes velocity and acceleration at which the dobot moves to future coordinates

  • velocity: float desired translation velocity
  • acceleration: float desired translation acceleration

• .suck(enable)

  • enable: bool enables/disables suction

• .grip(enable)

  • enable: bool enables/disables gripper

• .wait(ms) adds a waiting period to the internal queue of messages

  • ms: int number of milliseconds to wait