# 公開制御API：メソッドシグネチャ

提供された `DobotCtrl` のソースコードから生成した一覧です。操作は `DobotTcp` に委譲されます。メソッドの存在は実機での対応を保証しません。バックエンド実装と制約を確認してください。

## Lifecycle

| Method | Signature | Backend |
|---|---|---|
| `connect` | `connect()` | DobotTcp |
| `disconnect` | `disconnect()` | DobotTcp |
| `delete` | `delete()` | DobotTcp |

## Motion

| Method | Signature | Backend |
|---|---|---|
| `move` | `move(target, *, motion_mode=None, coord_type=None, path_blend=None, offset=None, pose=None, speed=None, accel=None, decel=None, is_async=True)` | DobotTcp |
| `rotate` | `rotate(plane, angle, center, *, path_blend=None, speed=None, is_async=True)` | DobotTcp |
| `motion_complete` | `motion_complete()` | DobotTcp |
| `get_motion_complete` | `get_motion_complete()` | DobotTcp |
| `wait_for_complete` | `wait_for_complete()` | DobotTcp |
| `get_current_pose` | `get_current_pose()` | DobotTcp |
| `get_current_position` | `get_current_position()` | DobotTcp |
| `get_current_angle` | `get_current_angle()` | DobotTcp |
| `j2p` | `j2p(j_type_pos)` | DobotTcp |
| `p2j` | `p2j(p_type_pos)` | DobotTcp |

## Control

| Method | Signature | Backend |
|---|---|---|
| `take_arm` | `take_arm()` | DobotTcp |
| `give_arm` | `give_arm()` | DobotTcp |
| `turn_on_motor` | `turn_on_motor()` | DobotTcp |
| `turn_off_motor` | `turn_off_motor()` | DobotTcp |
| `reset_error` | `reset_error()` | DobotTcp |
| `halt` | `halt()` | DobotTcp |
| `stop` | `stop()` | DobotTcp |
| `task_stop` | `task_stop()` | DobotTcp |

## Configuration

| Method | Signature | Backend |
|---|---|---|
| `set_speed` | `set_speed(speed)` | DobotTcp |
| `get_speed` | `get_speed()` | DobotTcp |
| `set_accel` | `set_accel(accel)` | DobotTcp |
| `get_accel` | `get_accel()` | DobotTcp |
| `set_decel` | `set_decel(decel)` | DobotTcp |
| `get_decel` | `get_decel()` | DobotTcp |
| `set_coord_type` | `set_coord_type(coord_type)` | DobotTcp |
| `get_coord_type` | `get_coord_type()` | DobotTcp |
| `set_motion_mode` | `set_motion_mode(mode)` | DobotTcp |
| `get_motion_mode` | `get_motion_mode()` | DobotTcp |

## I/O

| Method | Signature | Backend |
|---|---|---|
| `set_IO` | `set_IO(id_num, value)` | DobotTcp |
| `get_IO` | `get_IO(id_num)` | DobotTcp |

## Errors

| Method | Signature | Backend |
|---|---|---|
| `get_error` | `get_error()` | DobotTcp |
| `get_error_code` | `get_error_code()` | DobotTcp |
| `get_error_info` | `get_error_info(index)` | DobotTcp |
| `get_error_description` | `get_error_description(error_code)` | DobotTcp |
| `print_error_info` | `print_error_info(e)` | DobotTcp |

## その他の公開メソッド

| Method | Signature |
|---|---|
| `get_version` | `get_version(rel_toml_path)` |
| `hand_stop` | `hand_stop()` |
| `release_arm` | `release_arm()` |
| `change_work` | `change_work(work_no)` |
| `get_current_work_no` | `get_current_work_no()` |
| `get_work` | `get_work(work_no=None)` |
| `set_work` | `set_work(work_no, work_define, work_attribute=0)` |
| `change_tool` | `change_tool(work_no)` |
| `get_current_tool` | `get_current_tool()` |
| `get_current_tool_no` | `get_current_tool_no()` |
| `get_tool_define` | `get_tool_define(tool_no)` |
| `get_tool` | `get_tool(tool_no)` |
| `set_tool_define` | `set_tool_define(tool_no, tool_define)` |
| `set_tool` | `set_tool(tool_no, tool_define)` |
| `coord_type` | `coord_type(coord_type)` |
| `path_blend` | `path_blend(value)` |
| `set_path_blend` | `set_path_blend(path_blend)` |
| `get_path_blend` | `get_path_blend()` |
| `motion_mode` | `motion_mode(value)` |
| `task` | `task()` |
| `task_state` | `task_state()` |
| `get_task_status` | `get_task_status()` |
| `current_position` | `current_position()` |
| `current_angle` | `current_angle()` |
| `speed` | `speed()` |
| `jspeed` | `jspeed()` |
| `extspeed` | `extspeed()` |
| `accel` | `accel()` |
| `decel` | `decel()` |
| `extaccel` | `extaccel()` |
| `extdecel` | `extdecel()` |
| `lock` | `lock()` |
| `busy_status` | `busy_status()` |
| `is_running` | `is_running()` |
| `state` | `state()` |
| `servo_on` | `servo_on()` |
| `direct_mode` | `direct_mode()` |
| `get_direct_mode` | `get_direct_mode()` |
| `error_code` | `error_code()` |
| `error_description` | `error_description()` |
| `get_current_error_info` | `get_current_error_info()` |
| `get_error_count` | `get_error_count()` |
| `print_error` | `print_error(e)` |
| `set_jspeed` | `set_jspeed(speed)` |
| `get_jspeed` | `get_jspeed()` |
| `set_extspeed` | `set_extspeed(speed)` |
| `get_extspeed` | `get_extspeed()` |
| `set_extaccel` | `set_extaccel(extaccel)` |
| `get_extaccel` | `get_extaccel()` |
| `set_extdecel` | `set_extdecel(extdecel)` |
| `get_extdecel` | `get_extdecel()` |
| `dev` | `dev(base, offset)` |
| `approach` | `approach(lComp, vntPoseBase, vntPoseLen, bstrOpt=None)` |
| `drive` | `drive(target, *, relative=False, path_blend=None, speed=None, is_async=False)` |
| `get_digital_input` | `get_digital_input(id_num)` |
| `autocal` | `autocal(origin=False)` |
| `get_motion_preparation` | `get_motion_preparation()` |
| `run_script` | `run_script()` |
| `init_hand` | `init_hand()` |
| `open_hand` | `open_hand(speed=None)` |
| `hand_open` | `hand_open(speed=None)` |
| `hand` | `hand(pos=None, *, position=None, force=None, direction=True, relative=False, speed=None, is_async=False)` |
| `start_log` | `start_log()` |
| `stop_log` | `stop_log()` |
| `clear_log` | `clear_log()` |
| `start_servo_log` | `start_servo_log()` |
| `stop_servo_log` | `stop_servo_log()` |
| `clear_servo_log` | `clear_servo_log()` |
| `get_log_count` | `get_log_count()` |
| `get_log_record` | `get_log_record(index)` |