API reference

This reference describes every public object in pydobotlab. Objects are importable from the top-level pydobotlab package unless the page names a submodule.

Sections

Section	Contents
DobotLab compatibility	The 28 DobotLab Magician functions and where each is documented.
Magician	Constructor, connection, and device information.
Motion	Pose reading, point-to-point and continuous-path moves, homing.
Jogging	Continuous motion along one axis or joint.
Motion parameters	Velocity, acceleration, JUMP, and continuous-path parameters.
Command queue	Waiting on, pausing, and clearing the firmware command queue.
Alarms	Reading and clearing alarms.
End effectors	Suction cup, gripper, and laser.
I/O and sensors	Digital and analog I/O, PWM, color and infrared sensors.
Accessories	Conveyor, slideway, and lost-step detection.
Pose stream	Background pose polling.
Low-level commands	Raw protocol commands and parameter packing.
Discovery	Finding and probing serial ports.
Broker	Sharing one arm between several clients.
Simulator	Simulated arms for use without hardware.
Configuration	Per-user file with the default settings.
Exceptions	Exception hierarchy.

Conventions

• Lengths are in millimetres, angles in degrees, durations in seconds, and ratios in percent (0 to 100).
• The DobotLab functions that change the arm state wait until the arm has executed the command and return True. They raise a DobotAlarmError subclass when the arm reports an alarm, except set_home, which homes also during an alarm.
• Other methods that queue a command, such as cp, return its firmware queue index (int). Pass the index to wait_for to block until the command executes.
• Read methods return the value read. Other immediate commands return None unless stated otherwise.

• Examples assume that the names they use are imported from pydobotlab and that bot is a connected instance:

  from pydobotlab import Magician
  
  bot = Magician()
  bot.connect()
  

• The protocol command sent by each method is listed in Method ↔ command mapping.

Deprecated aliases

Alias	Use instead
Magician.home	Magician.set_home
Magician.clear_alarms	Magician.clear_alarm
Magician.wait_seconds	Magician.wait
Magician.get_pose_l	Magician.get_posel
Magician.get_slideway_pose	Magician.get_posel
AlarmSet.describe	AlarmSet.format

Version

pydobotlab.__version__ is the installed package version as a string.