pydobot:适用于Dobot Magician的Python库

[](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 import pydobot available_ports = list_ports.comports() print(f'available ports: {[x.device for x in available_ports]}') port = available_ports[0].device device = pydobot.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)** adds a waiting period to the internal queue of messages * **ms**: _int_ number of milliseconds to wait