# Source-level audit of public methods

This table statically checks whether methods exposed by `DobotCtrl` have a matching implementation in `DobotTcp`, using the supplied `dobot_ctrl(2).py` and `dobot_tcp.py`. It is **not** a comparison against the COBOTTA or UR implementations. The common control interface is defined by the project; MG400 is one backend.

A matching method name is **not a functional or safety guarantee**. Argument semantics, return values, exceptions and behavior on hardware require separate validation. Line numbers refer to the supplied source revisions.

| Public method | DobotCtrl line | DobotTcp line | Static finding |
|---|---:|---:|---|
| `connect()` | 36 | 108 | Same-named implementation; not validated |
| `get_version()` | 39 | 1851 | Explicitly unsupported |
| `delete()` | 45 | 195 | Same-named implementation; not validated |
| `disconnect()` | 48 | 170 | Same-named implementation; not validated |
| `halt()` | 57 | 493 | Explicitly unsupported |
| `task_stop()` | 60 | 512 | Explicitly unsupported |
| `hand_stop()` | 66 | 521 | Explicitly unsupported |
| `stop()` | 71 | 504 | Explicitly unsupported |
| `reset_error()` | 74 | 484 | Same-named implementation; not validated |
| `release_arm()` | 77 | 447 | Same-named implementation; not validated |
| `motion_complete()` | 84 | 649 | Same-named implementation; not validated |
| `get_motion_complete()` | 87 | 638 | Same-named implementation; not validated |
| `wait_for_complete()` | 90 | 653 | Same-named implementation; not validated |
| `change_work()` | 97 | 728 | Same-named implementation; not validated |
| `get_current_work_no()` | 100 | 734 | Same-named implementation; not validated |
| `get_work()` | 103 | 746 | Same-named implementation; not validated |
| `set_work()` | 106 | 807 | Same-named implementation; not validated |
| `change_tool()` | 122 | 859 | Same-named implementation; not validated |
| `get_current_tool()` | 125 | 877 | Same-named implementation; not validated |
| `get_current_tool_no()` | 128 | 865 | Same-named implementation; not validated |
| `get_tool_define()` | 131 | 880 | Same-named implementation; not validated |
| `get_tool()` | 134 | 909 | Same-named implementation; not validated |
| `set_tool_define()` | 137 | 913 | Same-named implementation; not validated |
| `set_tool()` | 143 | 926 | Same-named implementation; not validated |
| `take_arm()` | 153 | 427 | Same-named implementation; not validated |
| `give_arm()` | 156 | 437 | Same-named implementation; not validated |
| `coord_type()` | 168 | 935 | Same-named implementation; not validated |
| `set_coord_type()` | 171 | 938 | Same-named implementation; not validated |
| `get_coord_type()` | 174 | 945 | Same-named implementation; not validated |
| `path_blend()` | 184 | 975 | Same-named implementation; not validated |
| `set_path_blend()` | 190 | 978 | Same-named implementation; not validated |
| `get_path_blend()` | 193 | 996 | Same-named implementation; not validated |
| `motion_mode()` | 201 | 956 | Same-named implementation; not validated |
| `set_motion_mode()` | 204 | 959 | Same-named implementation; not validated |
| `get_motion_mode()` | 207 | 967 | Same-named implementation; not validated |
| `task()` | 215 | 1830 | Explicitly unsupported |
| `task_state()` | 219 | 1835 | Explicitly unsupported |
| `get_task_status()` | 222 | 1839 | Explicitly unsupported |
| `current_position()` | 226 | 528 | Same-named implementation; not validated |
| `current_angle()` | 230 | 532 | Same-named implementation; not validated |
| `speed()` | 234 | 1005 | Same-named implementation; not validated |
| `jspeed()` | 238 | 1009 | Same-named implementation; not validated |
| `extspeed()` | 243 | 1021 | Same-named implementation; not validated |
| `accel()` | 247 | 1013 | Same-named implementation; not validated |
| `decel()` | 252 | 1017 | Same-named implementation; not validated |
| `extaccel()` | 256 | 1025 | Same-named implementation; not validated |
| `extdecel()` | 260 | 1029 | Same-named implementation; not validated |
| `lock()` | 264 | 1825 | Explicitly unsupported |
| `busy_status()` | 268 | 580 | Same-named implementation; not validated |
| `is_running()` | 271 | 590 | Same-named implementation; not validated |
| `state()` | 274 | 593 | Same-named implementation; not validated |
| `servo_on()` | 278 | 472 | Same-named implementation; not validated |
| `direct_mode()` | 282 | 1844 | Same-named implementation; not validated |
| `get_direct_mode()` | 285 | 1847 | Explicitly unsupported |
| `get_current_position()` | 288 | 535 | Same-named implementation; not validated |
| `get_current_pose()` | 291 | 555 | Same-named implementation; not validated |
| `get_current_angle()` | 294 | 560 | Same-named implementation; not validated |
| `error_code()` | 302 | 697 | Same-named implementation; not validated |
| `error_description()` | 306 | 713 | Same-named implementation; not validated |
| `get_current_error_info()` | 309 | 706 | Same-named implementation; not validated |
| `get_error()` | 312 | 688 | Same-named implementation; not validated |
| `get_error_code()` | 315 | 692 | Same-named implementation; not validated |
| `get_error_count()` | 318 | 700 | Same-named implementation; not validated |
| `get_error_info()` | 321 | 703 | Same-named implementation; not validated |
| `get_error_description()` | 324 | 709 | Same-named implementation; not validated |
| `print_error_info()` | 327 | 719 | Same-named implementation; not validated |
| `print_error()` | 330 | 716 | Same-named implementation; not validated |
| `set_speed()` | 337 | 1032 | Same-named implementation; not validated |
| `get_speed()` | 340 | 1048 | Same-named implementation; not validated |
| `set_jspeed()` | 343 | 1056 | Same-named implementation; not validated |
| `get_jspeed()` | 346 | 1063 | Same-named implementation; not validated |
| `set_accel()` | 349 | 1066 | Same-named implementation; not validated |
| `get_accel()` | 352 | 1074 | Same-named implementation; not validated |
| `set_decel()` | 357 | 1077 | Same-named implementation; not validated |
| `get_decel()` | 360 | 1090 | Explicitly unsupported |
| `set_extspeed()` | 364 | 1093 | Same-named implementation; not validated |
| `get_extspeed()` | 367 | 1105 | Same-named implementation; not validated |
| `set_extaccel()` | 372 | 1109 | Explicitly unsupported |
| `get_extaccel()` | 377 | 1112 | Explicitly unsupported |
| `set_extdecel()` | 382 | 1115 | Explicitly unsupported |
| `get_extdecel()` | 387 | 1118 | Explicitly unsupported |
| `turn_on_motor()` | 394 | 463 | Same-named implementation; not validated |
| `turn_off_motor()` | 397 | 467 | Same-named implementation; not validated |
| `p2j()` | 404 | 1268 | Same-named implementation; not validated |
| `j2p()` | 407 | 1289 | Same-named implementation; not validated |
| `dev()` | 413 | 1221 | Same-named implementation; not validated |
| `move()` | 420 | 1310 | Same-named implementation; not validated |
| `approach()` | 447 | 1657 | Same-named implementation; not validated |
| `drive()` | 464 | 1525 | Same-named implementation; not validated |
| `rotate()` | 477 | 1678 | Explicitly unsupported |
| `get_IO()` | 493 | 1796 | Same-named implementation; not validated |
| `get_digital_input()` | 496 | 1751 | Same-named implementation; not validated |
| `set_IO()` | 499 | 1808 | Same-named implementation; not validated |
| `autocal()` | 508 | 1895 | Explicitly unsupported |
| `get_motion_preparation()` | 511 | 1674 | Explicitly unsupported |
| `run_script()` | 517 | 1737 | Explicitly unsupported |
| `init_hand()` | 522 | 1857 | Explicitly unsupported |
| `open_hand()` | 527 | 1861 | Explicitly unsupported |
| `hand_open()` | 532 | 1865 | Explicitly unsupported |
| `hand()` | 538 | 1870 | Explicitly unsupported |
| `start_log()` | 561 | 1899 | Explicitly unsupported |
| `stop_log()` | 566 | 1902 | Explicitly unsupported |
| `clear_log()` | 571 | 1905 | Explicitly unsupported |
| `start_servo_log()` | 576 | 1908 | Explicitly unsupported |
| `stop_servo_log()` | 581 | 1911 | Explicitly unsupported |
| `clear_servo_log()` | 586 | 1914 | Explicitly unsupported |
| `get_log_count()` | 592 | 1917 | Explicitly unsupported |
| `get_log_record()` | 597 | 1920 | Explicitly unsupported |