DobotAPI

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Shell Usage

Invoking the Shell

INFO

This guide is assuming that you already have dobotapi package installed. If not, please refer to Installation guide.

You can open the TUI with this command:

bash
python -m dobotapi.shell

WARNING

If some error occurs, please refer to Troubleshooting guide.

At this point, you should see a menu with a few options. Navigate through the menu with the arrow keys and press Enter or Space to select an option.

To continue, you need to press Tab to focus the other elements of the menu. Then, you can press Enter or Space to select an option.

At this point, a few options are available:

  • Get position
  • Move
  • Gripper
  • Suction cup
  • Conveyor Belt
  • Exit

We will now go through each of them (except Exit which is self-explanatory).

Get Position

First of all, you will be asked if you want to log the positions to a file. If you want to log the positions, select Yes and press Enter. If you don't want to log the positions, select No and press Enter.

Once that is done, shell should start displaying the position of the robot. Once you are done, select No and press Enter.

TIP

If you selected Yes when asked if you wanted to log the positions, you should be able to find a file called coords.txt with all the positions logged and ready to be further processed.

Move

This option allows you to move the robot to a specific position. You will be asked to enter the coordinates of the position you want to move to. You can enter the coordinates in the following format:

x, y, z, r

where x, y, z are the coordinates of the position you want to move to and r is the rotation of the robot.

Gripper

WARNING

You need to have a gripper attached to the robot and the correct port for this option to work. See Ports for more information.

This option allows you to control the gripper of the robot. You can select one of the following options:

  • Open
  • Close

Operation should be instant.

Suction Cup

WARNING

You need to have a suction cup attached to the robot and the correct port for this option to work. See Ports for more information.

This option allows you to control the suction cup of the robot. You can select one of the following options:

  • Suck
  • Idle

Operation should be instant.

Conveyor Belt

WARNING

You need to have a conveyor belt attached to the robot and the correct port for this option to work. See Ports for more information.

This option allows you to control the conveyor belt of the robot. You will be asked a few questions:

  • Speed: You can enter a number between 0 and 1. This number represents the speed of the conveyor belt.
  • Forward: You can select Yes or No. If you select Yes, the conveyor belt will move forward. If you select No, the conveyor belt will move backward.