Skip to content

Magician

Magician controls one Dobot Magician arm. Create an instance, then open the connection with connect() or a with block. When the control panel is installed, the connection goes through the control panel by default, which must be running.

Member Description
Magician Create a driver for one arm.
Magician.connect Open the connection and start the command queue.
Magician.disconnect Stop the command queue and close the connection.
Magician.port Port of the connection.
Magician.is_open Whether the connection is open.
Magician.Stepper1, Magician.Stepper2 Conveyor motor indices.
Magician.get_device_serial_number Read the serial number of the arm.
Magician.get_device_name Read the device name.
Magician.set_device_name Set the device name.
Magician.get_device_version Read the firmware version.
Dobot Alias of Magician.

Magician

Magician(port=None, baudrate=None, timeout=None, *, auto_start_queue=True, only_known_adapters=False, require_panel=None, via_broker="auto", broker_host=None, broker_port=None, verbose=True)

Create a driver for one arm. The connection opens on connect.

Parameters

Name Type Description
port str or None, default None Serial port, for example "COM3" or "/dev/ttyUSB0". None selects the first port that answers as a Dobot.
baudrate int or None, default None Serial baud rate. None uses the configured default, 115200 unless changed.
timeout float or None, default None Read timeout per byte, in seconds. None uses the configured default, 1.0 unless changed.
auto_start_queue bool, default True Clear and start the firmware command queue on connect and on disconnect.
only_known_adapters bool, default False When selecting a port automatically, consider only known Dobot adapters (KNOWN_DOBOT_USB_IDS).
require_panel bool or None, default None True connects through the running control panel, that is through its broker, and raises if it is not running. False connects through the panel when it is running and opens the port directly otherwise. None is True when the control panel is installed (pydobotlab[gui]) and False otherwise.
via_broker bool or "auto", default "auto" "auto" follows require_panel. True requires a broker. False always opens the port directly; require_panel does not apply.
broker_host str or None, default None Broker host. None uses the configured default, "127.0.0.1" unless changed.
broker_port int or None, default None Broker TCP port. None uses the configured default, 8765 unless changed.
verbose bool, default True Print a line when connect succeeds or fails, and when the pose stream fails or recovers.

Configured defaults are read when the instance is created. See Configuration.

Notes

Magician is a context manager. Entering the block calls connect and returns the instance; leaving it calls disconnect, including when an exception is raised.

Example

from pydobotlab import Magician

with Magician(port="COM3") as bot:
    print(bot.get_pose())

Magician.connect

Magician.connect() -> None

Open the connection and prepare the command queue.

Selects a port if none was given, connects through the control panel or directly according to require_panel and via_broker, then clears and starts the firmware queue when auto_start_queue=True. With verbose=True, prints [pydobotlab] Connected to <port>. on success, or [pydobotlab] Failed to connect: <reason> to standard error before raising.

Raises

  • DobotConnectionError: the control panel is required and not running (require_panel), no arm was found, the port could not be opened, or via_broker=True and no broker is reachable.
  • DobotPortInUseError: the port is open in this process or in another program.
  • DobotPermissionError: the operating system denied access to the port.

Magician.disconnect

Magician.disconnect() -> None

Stop the pose stream, remove commands left in the firmware queue, and close the connection. With auto_start_queue=True, the queue is left running for the control panel or the next program.

Does not raise. If a program exits without calling disconnect, the operating system releases the port.

Magician.port

Magician.port: str | None

Port of the connection. Before connecting, the port passed to the constructor. Read-only.

Magician.is_open

Magician.is_open: bool

True while the connection is open. Read-only.

Magician.Stepper1, Magician.Stepper2

Magician.Stepper1 = 0
Magician.Stepper2 = 1

Conveyor motor indices for set_converyor.

Magician.get_device_serial_number

Magician.get_device_serial_number() -> str

Read the serial number of the arm.

Magician.get_device_name

Magician.get_device_name() -> str

Read the device name.

Magician.set_device_name

Magician.set_device_name(name) -> None

Set the device name.

Parameters

Name Type Description
name str New name. ASCII characters only.

Magician.get_device_version

Magician.get_device_version() -> tuple[int, int, int]

Read the firmware version.

Returns tuple[int, int, int]: (major, minor, revision).

Dobot

Alias of Magician.