# DobotCtrl public API inventory

This inventory is extracted from the supplied `dobot_ctrl.py` public method definitions. Presence does not imply backend implementation. For detailed Sphinx API output see [generated API](../api/modules.html).

**Return-value caveat:** `False`, `0`, and `[]` do not exclude communication failures. `get_motion_complete()` does not prove successful execution. See the [return/failure quick reference](return_failure_quick_reference.md).

**Static exception-path audit:** See the [exception and state-dependency inventory](exception_path_inventory.md).

| Method | Parameters |
|---|---|
| `connect` | `self` |
| `get_version` | `self, rel_toml_path` |
| `delete` | `self` |
| `disconnect` | `self` |
| `halt` | `self` |
| `task_stop` | `self` |
| `hand_stop` | `self` |
| `stop` | `self` |
| `reset_error` | `self` |
| `release_arm` | `self` |
| `motion_complete` | `self` |
| `get_motion_complete` | `self` |
| `wait_for_complete` | `self` |
| `change_work` | `self, work_no` |
| `get_current_work_no` | `self` |
| `get_work` | `self, work_no=None` |
| `set_work` | `self, work_no, work_define, work_attribute=0` |
| `change_tool` | `self, work_no` |
| `get_current_tool` | `self` |
| `get_current_tool_no` | `self` |
| `get_tool_define` | `self, tool_no` |
| `get_tool` | `self, tool_no` |
| `set_tool_define` | `self, tool_no, tool_define` |
| `set_tool` | `self, tool_no, tool_define` |
| `take_arm` | `self` |
| `give_arm` | `self` |
| `coord_type` | `self, coord_type` |
| `set_coord_type` | `self, coord_type` |
| `get_coord_type` | `self` |
| `path_blend` | `self, value` |
| `set_path_blend` | `self, path_blend` |
| `get_path_blend` | `self` |
| `motion_mode` | `self, value` |
| `set_motion_mode` | `self, mode` |
| `get_motion_mode` | `self` |
| `task` | `self` |
| `task_state` | `self` |
| `get_task_status` | `self` |
| `current_position` | `self` |
| `current_angle` | `self` |
| `speed` | `self` |
| `jspeed` | `self` |
| `extspeed` | `self` |
| `accel` | `self` |
| `decel` | `self` |
| `extaccel` | `self` |
| `extdecel` | `self` |
| `lock` | `self` |
| `busy_status` | `self` |
| `is_running` | `self` |
| `state` | `self` |
| `servo_on` | `self` |
| `direct_mode` | `self` |
| `get_direct_mode` | `self` |
| `get_current_position` | `self` |
| `get_current_pose` | `self` |
| `get_current_angle` | `self` |
| `error_code` | `self` |
| `error_description` | `self` |
| `get_current_error_info` | `self` |
| `get_error` | `self` |
| `get_error_code` | `self` |
| `get_error_count` | `self` |
| `get_error_info` | `self, index` |
| `get_error_description` | `self, error_code` |
| `print_error_info` | `self, e` |
| `print_error` | `self, e` |
| `set_speed` | `self, speed` |
| `get_speed` | `self` |
| `set_jspeed` | `self, speed` |
| `get_jspeed` | `self` |
| `set_accel` | `self, accel` |
| `get_accel` | `self` |
| `set_decel` | `self, decel` |
| `get_decel` | `self` |
| `set_extspeed` | `self, speed` |
| `get_extspeed` | `self` |
| `set_extaccel` | `self, extaccel` |
| `get_extaccel` | `self` |
| `set_extdecel` | `self, extdecel` |
| `get_extdecel` | `self` |
| `turn_on_motor` | `self` |
| `turn_off_motor` | `self` |
| `p2j` | `self, p_type_pos` |
| `j2p` | `self, j_type_pos` |
| `dev` | `self, base, offset` |
| `move` | `self, target, *, motion_mode=None, coord_type=None, path_blend=None, offset=None, pose=None, speed=None, accel=None, decel=None, is_async=True` |
| `approach` | `self, lComp, vntPoseBase, vntPoseLen, bstrOpt=None` |
| `drive` | `self, target, *, relative=False, path_blend=None, speed=None, is_async=False` |
| `rotate` | `self, plane, angle, center, *, path_blend=None, speed=None, is_async=True` |
| `get_IO` | `self, id_num` |
| `get_digital_input` | `self, id_num` |
| `set_IO` | `self, id_num, value` |
| `autocal` | `self, origin=False` |
| `get_motion_preparation` | `self` |
| `run_script` | `self` |
| `init_hand` | `self` |
| `open_hand` | `self, speed=None` |
| `hand_open` | `self, speed=None` |
| `hand` | `self, pos=None, *, position=None, force=None, direction=True, relative=False, speed=None, is_async=False` |
| `start_log` | `self` |
| `stop_log` | `self` |
| `clear_log` | `self` |
| `start_servo_log` | `self` |
| `stop_servo_log` | `self` |
| `clear_servo_log` | `self` |
| `get_log_count` | `self` |
| `get_log_record` | `self, index` |

**Call-path audit:** See [exception and return-value call paths](exception_call_chain_audit.md).