Skip to content
forked from luismesas/pydobot

Python library for Dobot Magician

License

Notifications You must be signed in to change notification settings

balexei/pydobot

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

75 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

CircleCI

Python library for Dobot Magician

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

Installation

pip install pydobot

Example

from serial.tools import list_ports

from pydobot import Dobot

port = list_ports.comports()[0].device
device = 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)

    • ms: integer milliseconds to wait before the next command
    • wait: bool waits until command has been executed to return to process
  • .start_stepper(pps, motor=0, wait=False)

    • pps: integer pulses per second sent to e-motor (0 or 1)
    • motor: integer position of the e-motor
    • wait: bool waits until command has been executed to return to process
  • .stop_stepper(motor=0, wait=False)

    • motor: integer position of the e-motor (0 or 1)
    • wait: bool waits until command has been executed to return to process
  • .start_conveyor(speed, motor=0, wait=False)

    • speed: float speed in m/s
    • motor: integer position of the conveyor belt (0 or 1)
    • wait: bool waits until command has been executed to return to process
  • .set_io_mode(address, mode, wait=False)

    • address: integer EIO port number
    • mode: str I/O mode (Dummy, PWM, DO, DI, ADC)
    • wait: bool waits until command has been executed to return to process
  • .set_pwm_output(address, frequency, duty_cycle, wait=False)

    • address: integer EIO port number
    • frequency: float pulse frequency
    • duty_cycle: float pulse duty cycle (0 to 100)
    • wait: bool waits until command has been executed to return to process

Packages

No packages published

Languages

  • Python 100.0%