Dobot Api

This module provides a class to connect and interface with Dobot's arms

ATTRIBUTE	DESCRIPTION
`DASHBOARD_PORT`	port number for the dashboard API TYPE: `int`
`FEEDBACK_PORT`	port number for the feedback API TYPE: `int`

CLASS	DESCRIPTION
`DobotDevice`	DobotDevice provides methods to connect and interface with Dobot's arms

Documentation last updated: 2025-02-22

DobotDevice

DobotDevice(
    host: str,
    port: int | None = None,
    timeout: int = 10,
    *,
    simulation: bool = False,
    verbose: bool = False,
    **kwargs,
)

DobotDevice provides methods to connect and interface with Dobot's arms

ATTRIBUTE	DESCRIPTION
`host`	device host TYPE: `str`
`port`	device port TYPE: `int`
`timeout`	device timeout TYPE: `int`
`connection_details`	connection details for the device TYPE: `dict`
`dashboard_api`	dashboard API for the device TYPE: `DobotApiDashboard`
`move_api`	move API for the device TYPE: `DobotApiMove`
`flags`	flags for the device TYPE: `SimpleNamespace[str, bool]`
`is_connected`	whether the device is connected TYPE: `bool`
`verbose`	verbosity of class TYPE: `bool`

METHOD	DESCRIPTION
`connect`	connect to the device
`disconnect`	disconnect from the device
`reset`	reset the device
`clear`	clear the input and output buffers
`query`	query the device
`read`	read data from the device
`write`	write data to the device
`close`	close the connection to the device
`ClearError`	clear any errors on the device
`DisableRobot`	disable the robot
`EnableRobot`	enable the robot
`ResetRobot`	stop the robot
`SetArmOrientation`	set the handedness of the robot
`SpeedFactor`	set the speed factor of the robot
`GetAngle`	get the angle of the robot
`GetPose`	get the pose of the robot
`DOExecute`	execute a digital output
`JointMovJ`	move the robot to the specified joint coordinates
`MovJ`	move the robot to the specified cartesian coordinates
`RelMovJ`	move the robot by the specified joint offsets
`RelMovL`	move the robot by the specified cartesian offsets

connection_details `property`

connection_details: dict

Connection details for the device

is_connected `property`

is_connected: bool

Whether the device is connected

verbose `property` `writable`

verbose: bool

Verbosity of class

ClearError

ClearError()

Clear any errors on the device

DOExecute

DOExecute(channel: int, on: int)

Execute a digital output

PARAMETER	DESCRIPTION
`channel`	channel of the digital output TYPE: `int`
`on`	whether to enable the digital output (1 or 0) TYPE: `int`

DisableRobot

DisableRobot()

Disable the robot

EnableRobot

EnableRobot(*args)

Enable the robot

GetAngle

GetAngle()

Get the angle of the robot

GetPose

GetPose()

Get the pose of the robot

JointMovJ

JointMovJ(
    j1: float, j2: float, j3: float, j4: float, *args
)

Move the robot to the specified joint coordinates

PARAMETER	DESCRIPTION
`j1`	joint 1 coordinate TYPE: `float`
`j2`	joint 2 coordinate TYPE: `float`
`j3`	joint 3 coordinate TYPE: `float`
`j4`	joint 4 coordinate TYPE: `float`

MovJ

MovJ(x: float, y: float, z: float, r: float, *args)

Move the robot to the specified cartesian coordinates

PARAMETER	DESCRIPTION
`x`	x-coordinate TYPE: `float`
`y`	y-coordinate TYPE: `float`
`z`	z-coordinate TYPE: `float`
`r`	r-coordinate TYPE: `float`

RelMovJ

RelMovJ(
    offset1: float,
    offset2: float,
    offset3: float,
    offset4: float,
    *args,
)

Move the robot by the specified joint offsets

PARAMETER	DESCRIPTION
`offset1`	joint 1 offset TYPE: `float`
`offset2`	joint 2 offset TYPE: `float`
`offset3`	joint 3 offset TYPE: `float`
`offset4`	joint 4 offset TYPE: `float`

RelMovL

RelMovL(
    offsetX: float,
    offsetY: float,
    offsetZ: float,
    offsetR: float,
    *args,
)

Move the robot by the specified cartesian offsets

PARAMETER	DESCRIPTION
`offsetX`	x offset TYPE: `float`
`offsetY`	y offset TYPE: `float`
`offsetZ`	z offset TYPE: `float`
`offsetR`	r offset TYPE: `float`

ResetRobot

ResetRobot()

Stop the robot

SetArmOrientation

SetArmOrientation(right_handed: bool)

Set the handedness of the robot

PARAMETER	DESCRIPTION
`right_handed`	whether to select right-handed mode TYPE: `bool`

SpeedFactor

SpeedFactor(speed_factor: int)

Set the speed factor of the robot

PARAMETER	DESCRIPTION
`speed_factor`	speed factor to set TYPE: `int`

clear

clear()

Clear the input and output buffers

close

close()

Close the connection to the device

connect

connect()

Connect to the device

disconnect

disconnect()

Disconnect from the device

query

query(data: Any, lines: bool = True) -> list[str] | None

Query the device

PARAMETER	DESCRIPTION
`data`	data to query TYPE: `Any`

RETURNS	DESCRIPTION
`list[str] \| None`	list[str]\|None: data read from the device, if any

read

read(lines: bool = False) -> str | list[str]

Read data from the device

PARAMETER	DESCRIPTION
`lines`	whether to read multiple lines. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`str \| list[str]`	str\|list[str]: line(s) of data read from the device

reset

reset()

Reset the device

write

write(data: str) -> bool

Write data to the device

PARAMETER	DESCRIPTION
`data`	data to write TYPE: `str`

RETURNS	DESCRIPTION
`bool`	whether the write was successful TYPE: `bool`