pydobotplusplus

An (even more) extended Python library for controlling the Dobot Magician.

Installation

Install the driver from Silicon Labs.

Run:

pip install pydobotpp

Example

from serial.tools import list_ports
from pydobotpp import Dobot, CustomPosition

available_ports = list_ports.comports()
print(f'available ports: {[x.device for x in available_ports]}')
port = available_ports[2].device

device = Dobot(port=port)

# Create a custom position
pos1 = CustomPosition(x=200, y=50, z=50)

# Move using direct coordinates
device.move_to(x=200, y=50, z=50)

# Move using custom position
device.move_to(position=pos1)

# Control the conveyor belt
device.conveyor_belt(speed=0.5, direction=1)
device.conveyor_belt_distance(speed_mm_per_sec=50, distance_mm=200, direction=1)

device.close()

Methods

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

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

• .wait_for_cmd(cmd_id) Waits for the dobot's command queue to finish the cmd_id command.

  • cmd_id: The return id of action commands (.home(), .suck(enable), .grip(enable), etc...)

• .home() Sends a homing command to the robot, to reset the angle position of the robot's base motor.

• .get_pose() Returns the current pose of the Dobot, as a Pose named tuple (position and joints).

  • position: Position with (x, y, z, r) coordinates
  • joints: Joints with (j1, j2, j3, j4) angles

• .move_to(x=None, y=None, z=None, r=0, wait=True, mode=None, position=None) Queues a translation for the Dobot to the given coordinates or a Position object, keeps any unspecified parameters the same.

  • 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 the command has been executed before returning to the process - DO NOT TOUCH UNLESS YOU KNOW WHAT YOU ARE DOING
  • mode: MODE_PTP movement mode (default is MODE_PTP.MOVJ_XYZ) - DO NOT TOUCH UNLESS YOU KNOW WHAT YOU ARE DOING
  • position: Position object with (x, y, z, r) coordinates

• .move_rel(x=0, y=0, z=0, r=0, wait=True) Moves the Dobot relative to its current position, keeps any unspecified parameters the same.

  • x: float relative x coordinate
  • y: float relative y coordinate
  • z: float relative z coordinate
  • r: float relative r rotation
  • wait: bool waits until the command has been executed before returning to the process

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

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

• .suck(enable) Enables or disables suction.

  • enable: bool enables/disables suction

• .grip(enable) Enables or disables the gripper.

  • enable: bool enables/disables gripper

• .get_alarms() Returns a set of current alarms.

  • returns: set of Alarm enums

• .clear_alarms() Clears all current alarms.

• .wait(ms) Sends a wait command to the robot

  • ms: The time to wait in milliseconds.

• .get_device_serial_number() Returns the robot's serial number

• .set_device_name(name: str) Sets the device's name (as one can do using DobotStudio)

• .get_device_name(name: str) Get the device's name (as reported in DobotStudio)

• CustomPosition(x=None, y=None, z=None, r=None) Initializes a custom position object.

  • x: float x coordinate
  • y: float y coordinate
  • z: float z coordinate
  • r: float effector rotation - NOT USED ON MAGICIAN

• MODE_PTP Enum class for various PTP modes such as JUMP_XYZ, MOVJ_XYZ, MOVL_XYZ, etc. - DO NOT TOUCH UNLESS YOU KNOW WHAT YOU ARE DOING

• DobotException Custom exception class for handling Dobot-related errors.

• .set_color_sensor(enable=True, version=1) Enables or disables the color sensor.

  • enable: bool enables/disables the sensor
  • version: int sensor version

• .get_color() Returns the RGB values detected by the color sensor.

  • returns: list with RGB values

• .set_ir(enable=True, port=GPIOPort.GP4) Enables or disables the IR sensor on the specified port.

  • enable: bool enables/disables the sensor
  • port: int port number

• .get_ir(port=GPIOPort.GP4) Returns the state of the IR sensor on the specified port.

  • port: int port number
  • returns: bool state of the sensor

• .conveyor_belt(speed, direction=1, interface=0) Sets the speed and direction of the conveyor belt.

  • speed: float speed of the conveyor belt (range: 0.0 to 1.0)
  • direction: int direction of the conveyor belt (1 for forward, -1 for backward)
  • interface: int motor interface (default is 0)

• .conveyor_belt_distance(speed_mm_per_sec, distance_mm, direction=1, interface=0) Moves the conveyor belt at a specified speed for a specified distance.

  • speed_mm_per_sec: float speed in millimeters per second (must be <= 100)
  • distance_mm: float distance in millimeters
  • direction: int direction of the conveyor belt (1 for forward, -1 for backward)
  • interface: int motor interface (default is 0)