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Python library for Dobot Magician

Project description

CircleCI

Python library for Dobot Magician

Based on Communication Protocol V1.1.4 (latest version here)

Installation

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

pip install pydobot

Example

from serial.tools import list_ports

import pydobot

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

device = pydobot.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

Project details


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