Introduction
Preface
1 Overview
2 Blockly Programming
2.1 Magician & Magician Lite
Setting
2.1.1 Select End Effector
2.1.2 Set PTP Motion Ratio
2.1.3 Set Speed and Acceleration of Joint Axis
2.1.4 Set Speed and Acceleration of Cartesian Axis
2.1.5 Set Speed of Stepper Motor
2.1.6 Set Lifting Height and Maximum Lifting Height in Jump Mode
2.1.7 Set Lost Step Threshold
2.1.8 Set Speed and Pulses of Stepper Motor
2.1.9 Perform Lost Step Detection
2.1.10 Set Speed of Conveyor Motor
Motion
2.1.11 Home Operation
2.1.12 Move Robot to a Target Point in Jump Mode
2.1.13 Move Robot to a Target Position
2.1.14 Move a Relative Coordinate Increment
2.1.15 Move Joints to a Target Angle
2.1.16 Set R-axis Rotation Angle
2.1.17 Set Suction Cup Status
2.1.18 Set Gripper Status
Detection
2.1.19 Get Robot Cartesian Coordinates
2.1.20 Get Robot Joint Coordinates
2.1.21 Check Lost Step
2.1.22 Clear Alarm
IO (Only Magician Supported)
2.1.23 Set EIO State
2.1.24 Set PWM Output
2.1.25 Set Digital Output
2.1.26 Get Digital Input
2.1.27 Get Analog Input
AI
2.1.28 Recognize Speech Automatically
2.1.29 Recognize Speech Manually
2.1.30 Get Speech Recognition Results
2.1.31 Broadcast Speech
2.1.32 Set Voice of Speech
2.1.33 Set Language
2.1.34 Translation
2.1.35 Visitor Language
2.1.36 Take Pictures Automatically
2.1.37 Take Pictures Manually
2.1.38 Get Pictures
2.1.39 Picture Recognition
2.1.40 Cut and Recognize Pictures
2.1.41 Obtain Number of Image Segmentation
2.1.42 Obtain Pictures after Cutting
2.1.43 Gender Recognition
2.1.44 Expression Recognition
2.1.45 Obtain Name Through Facial Recognition
2.1.46 Face Match
2.1.47 OCR Recognition
2.1.48 OCR ID Card Recognition
2.1.49 Send Message to Dobot
2.1.50 Obtain Reply from Dobot
2.1.51 Reset Dialogue
2.1.52 Set Key Words of Poem
2.1.53 Obtain Poem
2.1.54 Set Key Words of Couplet
2.1.55 Obtain Couplet
2.1.56 Enter General Text
2.1.57 Obtain Classification of General Text
2.1.58 Enter News Text
2.1.59 Obtain Classification of News Text
2.1.60 Enter Text to be Analyzed about Emotional Tendency
2.1.61 Obtain Result of Emotional Tendency Analysis
Sliding Rail
2.1.62 Set Status of Sliding Rail
2.1.63 Set Moving Distance of Sliding Rail
2.1.64 Set Speed of Sliding Rail in PTP Mode
2.1.65 Set Speed of Sliding Rail in Jogging Mode
Photoelectric and Color Sensor
2.1.66 Set State of Infrared Sensor
2.1.67 Get Value of Infrared Sensor
2.1.68 Set Status of Color Sensor
2.1.69 Get Value of Color Sensor
2.2 Magic Box
Magic Box
2.2.1 Output Digital Signal Value
2.2.2 Set Port Status
2.2.3 Set PWM Output
2.2.4 Get Digital Signal
2.2.5 Determine Whether Got Digital Signal
2.2.6 Get Analog Signal
2.2.7 Set Speed of Stepper Motor
2.2.8 Set Speed and Pulses of Stepper Motor
2.2.9 Set Conveyor Speed
pixy Camera
2.2.10 Get Color Signature
2.2.11 Determine Whether Detected Color Signature
Bluetooth
2.2.12 Set Bluetooth as master device and connect to slave device
2.2.13 Set Bluetooth as slave device
2.2.14 Get the Bluetooth MAC address of the current device
2.2.15 Received information from other devices
2.2.16 Send information to other devices
2.2.17 Whether to receive information from other devices
2.2.18 When receiving information from other devices
2.2.19 Clear the Bluetooth cache
AI Sensor
2.2.20 Set RGB Value of LED
2.2.21 Set RGB and Brightness of LED
2.2.22 Set Status of LED
2.2.23 Speech Broadcast
2.2.24 Set Volume of Speech Broadcast
2.2.25 Play Music
2.2.26 Set Sound Effect
2.2.27 Set Prompt Sound
2.2.28 Set Content and Volume of Speech Broadcast
2.2.29 Set Speech Operation of TTS
2.2.30 Set Display Text of OLED Screen
2.2.31 Set Display Text of OLED Screen on the Specified Position
2.2.32 Clear OLED
2.2.33 Get Value of Knob Potentiometer
2.2.34 Get Light Intensity of Light Sensor
2.2.35 Get Sound Intensity of Sound Sensor
2.2.36 Get Temperature and Humidity of Humiture
2.2.37 Get Value of Color Sensor
2.2.38 Whether Detected Specified Color
2.2.39 Determine Status of Photoelectric Sensor
2.2.40 Get Status of Photoelectic Sensor
2.2.41 Determine Status of Gesture Sensor
2.2.42 Determine Status of Dual Button Module
2.2.43 Set Servo Angle
2.3 Magician Go
Motion
2.3.1 Start/Stop Running
2.3.2 Set Direction and Speed
2.3.3 Set Direction, Distance and Speed
2.3.4 Set Rotation Angle and Rotation Angular Velocity
2.3.5 Stop Car Movement
2.3.6 Move to Target Point
2.3.7 Set Moving Direction, Distance and Speed
2.3.8 Set Automatic Line Patrol
2.3.9 Set Line Tracking Speed
2.3.10 Set Line Tracking Speed and PID
2.3.11 Angle Closed Loop
2.3.12 Set Safety Switch
Detection
2.3.13 Get Ultrasonic Data
2.3.14 Whether Ultrasonic Sensor Detects the Target
2.3.15 Get IMU Angle
2.3.16 Get Car Speed
2.3.17 Get Car Coordinates
2.3.18 Reset
Sound and Light
2.3.19 Set Tone and Beat of Buzzer
2.3.20 Set Sound Effect of Buzzer
2.3.21 Set Status of RGB Light
2.3.22 Set Blink or Breath Status of RGB Light
2.3.23 Set RGB Light to On-status
2.3.24 Set RGB Value of Lights
2.3.25 Set RGB Light to Off-status
2.3.26 Set Control Mode of RGB Lights
Go_Beta Laboratory
2.3.27 Enter or Exit the Parking Space
2.3.28 Is Nearby a Certain Point
2.3.29 Grab Objects
2.3.30 Move Arm Camera to Detection Position
2.3.31 Transform Pixel Coordinate to Coordinate in Arm
2.3.32 Create Apriltag Object Information
2.3.33 Get Height of Apriltag Object
2.3.34 Get Z-axis Coordinates
2.3.35 Transform Pixel Coordinate of Apriltag Object to Coordinate in Arm
2.3.36 Get Detection Model of Camera
Visual Recognition
2.3.37 Get Detection Model of Arm Camera
2.3.38 Get Number of Recognized Objects
2.3.39 Get Parameters of Objects in View
2.3.40 Determine Whether There Are Blocks in View
2.3.41 Determine Whether There Are Expresses in View
2.3.42 Determine Whether There Is a Food Target in View
2.3.43 Get Number of Recognized Apriltags
2.3.44 Get Parameters of Apriltag in View
2.3.45 Determine Whether There Is a Specified Apriltag in View
2.3.46 Set Detection Model of Car Camera
2.3.47 Determine Whether There Are Specified Road Signs in View
2.3.48 Determine Whether There Is a Zebra Crossing in View
2.3.49 Get Number of Road Signs in View
2.3.50 Get Parameters of Targets in View
2.3.51 Get Visual Line Tracking Angle
2.4 Mobile Platform
Mobile Platform
2.4.1 Initialize Mobile Platform
2.4.2 Initialize Keys
2.4.3 Set LED
2.4.4 Set Moving Direction and Speed of Car
2.4.5 Set Moving Direction, Speed and Time of Car
2.4.6 Set Motor Speed
2.4.7 Set Motor Parameters
Sensor
2.4.8 Start Ultrasonic Sensor
2.4.9 Detect Obstacles
2.4.10 Get Ultrasonic Detection Distance
2.4.11 Get Infrared Sensor Data
2.4.12 Set White Balance of Color Sensor
2.4.13 Set on-off Status of Color Sensor
2.4.14 Get RGB Value
2.4.15 Detect Color
2.4.16 Get Switch Status
2.4.17 Get Motor Angle
2.4.18 Set Ultrasonic Threshold
2.4.19 Set Offset
2.4.20 Get Offset
2.4.21 Get PID-Processed Offset
2.5 Arduino
Serial Port
2.5.1 Set Port Mode
2.5.2 Set Baud Rate
2.5.3 Set Xbee Baud Rate
2.5.4 Serial Print
2.5.5 Serial PrintIn
2.5.6 Get Serial Data
2.5.7 Get Serial String
IO
2.5.8 Set Digital Port Level of Arduino
2.5.9 Set Value of Analog Port
2.5.10 Read Digital Port
2.5.11 Get Value of Digital Port
2.5.12 Read Analog Port
2.5.13 Set Frequency and Output Period of Ultrasonic Port
2.5.14 Set Angle of Servo Motor
Speech Recognition
2.5.15 Initialize Speech Recognition
2.5.16 Add Speech
2.5.17 Detect Phrases
Joystick
2.5.18 Check Button State
2.5.19 Set Status of LED
2.5.20 Get Status of LED
2.5.21 Get Value of Joystick
2.5.22 Get Pressing State of Joystick
2.6 AIStarter
AIStarter
2.6.1 Initialize Smartbot
2.6.2 Set Key Initialization
2.6.3 Set LED
2.6.4 Set Motor
Motion
2.6.5 Set Motor Speed
2.6.6 Attach Servo Port
2.6.7 Detach Servo Port
2.6.8 Set Servo Angle
Sensor
2.6.9 Start Ultrasonic Sensor
2.6.10 Detect Obstacles
2.6.11 Get Ultrasonic Detection Distance
2.6.12 Get Data of LIne Tracking Sensor
2.6.13 Get Geomagnetic Angle
2.6.14 Calibrate Geomagnetic Field
2.6.15 Set White Balance of Color Sensor
2.6.16 Set on-off Status of Color Sensor
2.6.17 Get RGB Value
2.6.18 Return RGB Value
2.6.19 Get Switch Status
2.6.20 Get Photosensitive Value
2.6.21 Set Ultrasonic Threshold
2.6.22 Set Offset
2.6.23 Get Offset
2.6.24 Get PID-Processed Offset
2.6.25 Get Value of Motor Encoder
2.6.26 Set Line Tracking PID
Xbee
2.6.27 Read Xbee Value
2.6.28 Send Xbee Value
2.6.29 Determine Whether XBee Received Message
2.6.30 Clear Xbee Cache
Bluetooth
2.6.31 Set Bluetooth as slave device
2.6.32 Get the Bluetooth MAC address of the current device
2.6.33 Received information from other devices
2.6.34 Send information to other devices
2.6.35 Whether to receive information from other devices
2.6.36 When receiving information from other devices
2.6.37 Clear the Bluetooth cache
2.7 Motion
2.7.1 Move Specified Steps
2.7.2 Turn Right with Specified Degrees
2.7.3 Turn Left with Specified Degrees
2.7.4 Move Sprite
2.7.5 Move Sprite to Specified Position
2.7.6 Slide to Specified Position Within Specified Period
2.7.7 Slide to Specified Position of Stage Within Specified Period
2.7.8 Face Towards Specified Direction
2.7.9 Face Towards Specified Position
2.7.10 Set Increment of X-coordinates
2.7.11 Set X-coordinates
2.7.12 Set Increment of Y-coordinates
2.7.13 Set Y-coordinates
2.7.14 Rebound Once Touching Stage Edge
2.7.15 Set Rotation Mode
2.7.16 Get X-coordinates
2.7.17 Get Y-coordinates
2.7.18 Get Direction the Sprite Is Facing
2.8 Appearance
2.8.1 Display Dialogue for Specified Period
2.8.2 Display Dialogue
2.8.3 Display Content of Thinking for Specified Period
2.8.4 Display Content of Thinking
2.8.5 Change Costume
2.8.6 Switch Stage Backdrop
2.8.7 Switch to Next Backdrop
2.8.8 Increase Size of Sprite
2.8.9 Set Size of Sprite
2.8.10 Set Increase of Effects
2.8.11 Set Percentage of Effects
2.8.12 Clear Graphic Effects
2.8.13 Display Sprite
2.8.14 Hide Sprite
2.8.15 Set Layer of Sprite
2.8.16 Go to Specified Layer
2.8.17 Get Costume Index or Name of Sprite
2.8.18 Get Stage Backdrop Index or Name
2.8.19 Get Size of Sprite
2.9 Sound
2.9.1 Play Specified Sound until the End
2.9.2 Play Specified Sound
2.9.3 Stop Playing All Sounds
2.9.4 Increase Pitch or Balance Effect
2.9.5 Set Pitch or Balance Effect
2.9.6 Clear Sound Effect
2.9.7 Increase Volume
2.9.8 Set Volume
2.9.9 Get Volume
2.10 Events
2.10.1 When Green Flag Is Clicked
2.10.2 When Specified Key Is Pressed
2.10.3 When Sprite Is Clicked
2.10.4 When Timer or Loudness Exceeds Specified Value
2.10.5 When Receiving Specified Message
2.10.6 Broadcast Message
2.10.7 Broadcast Message and Wait
2.11 Control
2.11.1 Wait Command
2.11.2 Repeat Specified Times
2.11.3 Repeat Command
2.11.4 Ifโฆthenโฆ
2.11.5 Ifโฆthenโฆelse
2.11.6 Wait untilโฆ
2.11.7 Repeat untilโฆ
2.11.8 Stop Executing Specified Script
2.11.9 Whether a Clone Is Started
2.11.10 Clone Command
2.11.11 Delete Clone
2.12 Sensing
2.12.1 Judgement Command 1
2.12.2 Judgement Command 2
2.12.3 Judgement Command 3
2.12.4 Get Distance
2.12.5 Ask Specified Questions
2.12.6 Answer Command
2.12.7 Determine Whether Specified Key Is Pressed
2.12.8 Determine Whether Mouse Is Pressed
2.12.9 Get X Coordinates of Mouse
2.12.10 Get Y Coordinates of Mouse
2.12.11 Set Dragging Mode
2.12.12 Obtain Current Loudness
2.12.13 Obtain Value of Timer
2.12.14 Reset Timer
2.12.15 Obtain Value of Stage or Sprite
2.12.16 Get Current Time
2.12.17 Get Days Since 2000
2.13 Operators
2.13.1 Addition
2.13.2 Subtraction
2.13.3 Multiplication
2.13.4 Division
2.13.5 Get A Random Number Within A Apecified Range
2.13.6 "A>B" Command
2.13.7 "A < B" Command
2.13.8 "A=B" Command
2.13.9 "A and B" Command
2.13.10 "A or B" Command
2.13.11 "Not A" Command
2.13.12 Join Strings
2.13.13 Get Specified Letter
2.13.14 Get Length
2.13.15 Get Remainder
2.13.16 Round-off Operation
2.13.17 Get Result of Specified Math Operation
2.13.18 Extract Characters
2.13.19 Determine the First Character of a String
2.13.20 Determine the End Character of a String
2.13.21 Determine Whether a String Contains Specified Characters
2.13.22 Extract Numbers from a Specified String
2.14 Variables
2.14.1 Make a Variable
2.14.2 Set Value of Variable
2.14.3 Increase Value of Variable
2.14.4 Display Variable
2.14.5 Hide Variable
2.14.6 Make a List
2.14.7 Add Variables to List
2.14.8 Delete an Item of List
2.14.9 Delete All Items of List
2.14.10 Insert an Item in List
2.14.11 Replace an Item in List
2.14.12 Obtain Variable in a Certain Position of List
2.14.13 Obtain Index of an Item in List
2.14.14 Get Number of Items of List
2.14.15 Determine Whether List Contains a Certain Item
2.14.16 Display List on the Stage
2.14.17 Hide List on the Stage
2.15 Block Program Demo
3 Python Programming
3.1 Dobot Magician Lite
Movement
3.1.1 Point-to-point Movement
3.1.2 Set Home
3.1.3 Set Suction Cup
3.1.4 Set Gripper
Detection
3.1.5 Get End Effector Type
3.1.6 Get Pose
3.1.7 Get Speed of Arm
3.1.8 Check Lost-step Results
Setting
3.1.9 Set Lost-step Threshold
3.1.10 Set Speed of Arm
3.1.11 Set Jump Movement Params
3.1,12 Wait N Seconds
3.1.13 Perform Lost-step Detection
3.2 AI Sensor
Light
3.2.1 Set RGB Values of LED
3.2.2 Set Color and Brightness of LED
3.2.3 Set Status of LED
Sound
3.2.4 Set TTS to Play the Defined Voice
3.2.5 Set Volume of TTS
3.2.6 Set TTS to Play Specified Music
3.2.7 Set TTS to Play Specified Sound Effect
3.2.8 Set TTS to Play Specified Prompted Sound
3.2.9 Set Playing Status of TTS
Display
3.2.10 Set Display Text of OLED Screen
3.2.11 Set Display Text of OLED Screen on the Specified Position
3.2.12 Clear Display of OLED Screen
Sensors
3.2.13 Get Value of Knob Potentiometer
3.2.14 Get Value of Light Sensor
3.2.15 Get Value of Acoustic Sensor
3.2.16 Get Value of Humiture Sensor
3.2.17 Get Value of Color Sensor
3.2.18 Get Detection Result of Color Sensor
3.2.19 Get Value of Photoelectric Sensor
3.2.20 Get Detection Result of Gesture Sensor
3.2.21 Determine Whether a Gesture Is Detected
3.2.22 Determine Whether a Joystick Event Is Triggered
3.2.23 Get Joystick-Triggered Event
3.2.24 Get Coordinates of Joystick
3.2.25 Determine Whether Human Body Is Detected
3.2.26 Get Status of Dual Button Module
3.2.27 Set Servo Angle
3.3 AI
Face Recognition
3.3.1 Face Comparison
3.3.2 Face Detection
3.3.3 Face Search
3.3.4 Create Staff Library
3.3.5 Create Personnel, Add Face, Name, Gender and Other Related Information
3.3.6 Obtain Basic Personnel Information
3.3.7 Delete Staff Library
Text Recognition
3.3.8 General Print Recognition
3.3.9 Identification of ID Card
Voice Technology
3.3.10 One Sentence Recognition
3.3.11 Basic Speech Synthesis
Natural Language Processing
3.3.12 Text Classification
Robot Conversation
3.3.13 Robot Conversation
Machine Translation
3.3.14 Text Translation
Common Function Interface
3.3.15 Countdown Shooting
3.3.16 Recording
3.4 Dobot Magician Go
3.4.1 Set Operating Mode
3.4.2 Set Odometer Data
3.4.3 Set Direction and Speed
3.4.4 Set Moving Speed
3.4.5 Set Rotation Angle and Rotation Angular Velocity
3.4.6 Set Distance and Speed of X-axis and Y-axis Movement
3.4.7 Move to Any Point in the World Coordinate System
3.4.8 Walk Arc Trajectory in Radius
3.4.9 Walk Arc Trajectory at the Center of the Circle
3.4.10 Set Angle Closed Loop in the World Coordinate System
3.4.11 Set Color of RGB Lights
3.4.12 Set Buzzer Sound Effect
3.4.13 Get Ultrasonic Data
3.4.14 Get Odometer Data
3.4.15 Get Battery Voltage
3.4.16 Get IMU Heading Angle
3.4.17 Automatic Line Patrol
3.4.18 Set Line Tracking Speed
3.4.19 Set Line Tracking PID
3.4.20 Get Car Angle
3.4.21 Get Lite Deeplearning Object
3.4.22 Get Car Deeplearning Object
3.4.23 Get Lite Apriltag Object
3.5 Dobot Magician Go Beta
3.5.1 Enter the Parking Space
3.5.2 Exit the Parking Space
3.5.3 Grab Objects to Ground
3.5.4 Grab Objects to Car
3.5.5 Is Nearby a Certain Point
3.5.6 To Position Above the Pallet
3.5.7 To Position Above the Storage Box
3.5.8 Transform Pixel Coordinate to Coordinate in Arm
3.5.9 Create Apriltag Object Information
3.5.10 Get Height of Apriltag Object
3.5.11 Get Z-axis Coordinate of Apriltag Object
3.5.12 Set Running Model of Lite
3.5.13 Set Running Model of Car
3.5.14 Get Running Model of Lite
3.5.15 Get Running Model of Car
3.5.16 Whether AI Camera of Lite Detects the Target
3.5.17 Whether AI Camera of Car Detects the Target
3.6 Dobot Magician
3.6.1 Point-to-point Movement
3.6.2 Set Slideway State and Version
3.6.3 Set Speed of Slideway
3.6.4 Point-to-point Movement with Slideway
3.6.5 Set R-axis Angle
3.6.6 Set Movement Rate
3.6.7 Set Jump Movement Params
3.6.8 Set Mode of IO Port
3.6.9 Set Frequency and Duty Cycle of PWM Output Port
3.6.10 Set Digital Output Port
3.6.11 Get Digital Signal
3.6.12 Get Analog Signal
3.6.13 Set End Suction Cup
3.6.14 Set End Gripper
3.6.15 Set Photoelectric Sensor
3.6.16 Get Value of Photoelectric Sensor
3.6.17 Set Color Sensor
3.6.18 Get Value of Color Sensor
3.6.19 Wait N Seconds
3.6.20 Set Home
3.6.21 Get Current Pose
3.6.22 Get Pose of Slideway
3.6.23 Clear Alarm
3.6.24 Get Speed of Arm
3.6.25 Set Lost-step Threshold
3.6.26 Perform Lost-step Detection
3.6.27 Check Lost-step Results
3.6.28 Set Speed of Conveyor and Move
3.7 Dobot Magic Box
3.7.1 Set Speed of Extended Motor
3.7.2 Set Color Sensor
3.7.3 Get Value of Color Sensor
3.7.4 Set Photoelectric Sensor
3.7.5 Get Value of Photoelectric Sensor
3.7.6 Set Slideway State and Version
3.7.7 Set Speed of Slideway
3.7.8 Point-to-Point Movement of Slideway
3.7.9 Get Pose of Slideway
3.7.10 Set Speed of Conveyor and Move
3.7.11 Set Port Mode
3.7.12 Output Digital Signal Level
3.7.13 Output PWM Frequency and Duty Cycle
3.7.14 Get Digital Signal Output
3.7.15 Get Digital Signal Input
3.7.16 Get Analog Signal
3.7.17 Get Speed Rate of Slideway
3.7.18 Get Parameters of Color Identification Objects from Pixy Camera
3.7.19 Whether Pixy Camera Detects Color Identification Objects
3.7.20 Set Bluetooth Group and Device ID
3.7.21 Send Bluetooth Message
3.7.22 Receive Bluetooth Message from Device
3.7.23 Is Bluetooth Message Received
3.7.24 When Bluetooth Message Is Received
3.7.25 Clear Bluetooth Information Cache
3.7.26 Set Servo Angle
3.8 Image Recognition
3.8.1 Picture Segmentation
3.8.2 Image Color Cutting
3.8.3 Picture Classification
3.8.4 Picture Grouping
3.8.5 Picture Color Classification
3.8.6 Picture Color Grouping
3.8.7 Background Calibration
3.8.8 Image Recognition Demo
3.9 Python Program Demo
Appendix
Published with GitBook
Get Z-axis Coordinates
Function:
Description: Get Z-axis coordinates of Apriltag object
Parameter:
id: Apriltag ID
Return: Z-axis coordinates of arm
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