Manual

Arduino Kit Demo Description 10 DobotPixy Demo
Issue V2.1 (2019-12-05) Demo Description Copyright © Yuejiang Technology Co., Ltd
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Common Function of Dobot Magician
Dobot Magician communicates with Arduino over UART interface (10 PIN) on the base of the
Dobot Magician, using the Dobot protocol. We have provided Dobot library which encapsulates part
of the Dobot Magician API, being called directly to control Dobot Magician. This topic describes
the common functions that are used in Arduino demo. For details about Dobot Magician API, please
see Dobot Magician API Description.
Attached table 25 Set the motion mode and the target coordinates
FALSE: The placement is failed
Prototype
void Dobot_SetPTPCmdEx( uint8_t Model, float x, float y, float z, float r)
Description
Set the motion mode and the target coordinates
Parameter
Details for Model:
enum {
JUMP_XYZ, //JUMP mode, (x,y,z,r) is the target point in Cartesian
coordinate system
MOVJ_XYZ, //MOVJ mode, (x,y,z,r) is the target point in Cartesian
coordinate system
MOVL_XYZ, //MOVL mode, (x,y,z,r) is the target point in Cartesian
coordinate system
JUMP_ANGLE, //JUMP mode, (x,y,z,r) is the target point in Joint
coordinate system
MOVJ_ANGLE, //MOVJ mode, (x,y,z,r) is the target point in Joint
coordinate system
MOVL_ANGLE, //MOVL mode, (x,y,z,r) is the target point in Joint
coordinate system
MOVJ_INC, //MOVJ mode, (x,y,z,r) is the angle increment in
Joint coordinate system
MOVL_INC, //MOVL mode, (x,y,z,r) is the Cartesian coordinate
increment in Joint coordinate system
MOVJ_XYZ_INC, //MOVJ mode, (x,y,z,r) is the Cartesian coordinate
increment in Cartesian coordinate system
JUMP_MOVL_XYZ, //JUMP mode, (x,y,z,r) is the Cartesian coordinate
increment in Cartesian coordinate system
};
x、y、z、r : Coordinate parameters in PTP mode. (x,y,z,r) can be set to Cartesian
coordinate, joints angle, or increment of them
Return
None