COBOTTA Writing API

FontBcapCobottaWriterConfig

Holds the communication destination, workspace, character cells, coordinate transforms, writing directions, axis inversions, speeds, and acceleration/deceleration settings.

The main defaults are:

Argument	Default
`host`	`10.170.10.53`
`port`	`5007`
`workspace_width`	`200.0`
`workspace_height`	`10.0`
`cell_width`	`8.0`
`cell_height`	`8.0`
`character_height`	`7.0`
`curve_division`	`16`
`pen_lift_mm`	`1.0`
`writing_direction`	`horizontal`
`line_direction`	`left_to_right`
`vertical_direction`	`top_to_bottom`
`drawing_speed`	`35`
`travel_speed`	`40`
`pen_speed`	`20`
`accel` / `decel`	`100`

FontBcapCobottaWriter

FontBcapCobottaWriter(config, bcap=None, logger=None)

If an existing CobottaBcap instance is supplied, the writer uses it. Otherwise, the writer creates an instance for the connection.

Connection and preparation

connect() -> bool
disconnect() -> bool
reset_error() -> bool
take_arm() -> bool
give_arm() -> bool
motor_on() -> bool
set_accel() -> bool
set_decel() -> bool

Configuration

set_params(...) -> bool
set_pen_lift_mm(pen_lift_mm: float) -> bool
set_start_height_mm(start_height_mm: float) -> bool
set_return_to_start(return_to_start: bool) -> bool
set_new_line(new_line: bool) -> bool

set_params() first constructs a new FontLineLayout from the proposed layout-related settings and applies the settings only after construction succeeds. This avoids partial updates when an intermediate step fails.

Writing

write(
    text: str,
    start_height_mm: float | None = None,
    return_to_start: bool | None = None,
    new_line: bool | None = None,
) -> bool

Returns False when not connected. If the stroke set is empty, it performs no motion and returns True. A RuntimeError is raised if the current P coordinates cannot be obtained or do not contain six elements.

Emergency retraction

emergency_lift_pen() -> bool

During writing, retracts along the Z axis to the configured pen-up height while maintaining the current XY coordinates and orientation.