Metadata-Version: 2.1
Name: pydobot
Version: 1.2.0
Summary: Python library for Dobot Magician
Home-page: https://github.com/luismesas/pydobot
Author: Luis Mesas
Author-email: luismesas@gmail.com
License: UNKNOWN
Download-URL: https://github.com/luismesas/pydobot/archive/v1.2.0.tar.gz
Description: [![CircleCI](https://circleci.com/gh/luismesas/pydobot.svg?style=svg)](https://circleci.com/gh/luismesas/pydobot)
        
        Python library for Dobot Magician
        ===
        
        Based on Communication Protocol V1.1.4 (_latest version [here](https://www.dobot.cc/downloadcenter.html?sub_cat=72#sub-download)_)
        
        
        Installation
        ---
        
        Install driver from https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers.
        
        ```
        pip install pydobot
        ```
        
        Example
        ---
        
        ```python
        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
        
Keywords: dobot,magician,robotics
Platform: UNKNOWN
Description-Content-Type: text/markdown
