> For the complete documentation index, see [llms.txt](https://gmii.gitbook.io/gmii-tw/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gmii.gitbook.io/gmii-tw/gmii-vision/device/arm/dobot-magician.md).

# Dobot Magician

## 新增 Magician

在裝置選單中選擇新增 Magician，選取裝置連接埠後連線。

![](https://3423568874-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2Fgmii-tw%2F-M2r4JM8vehmrn9XcCIw%2F-M2r6Bz5ELo4pDi7vazv%2Fmagician_new.png?generation=1584693825853550\&alt=media)

## 手臂控制器

* 鎖定：需先設定裝置編號後鎖定，才能在任務中使用。
* 控制：控制器中間區域為控制區，連接後可以控制和設定手臂。
* 警報：若操控有誤或是裝置出現故障，下方會顯示出警報資訊。

![](https://3423568874-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2Fgmii-tw%2F-M2r4JM8vehmrn9XcCIw%2F-M2r6Bz30wYAEoK1C4A5%2Fmagician_controller.png?generation=1584693825860480\&alt=media)

## 在任務中使用手臂

Blockly和Python皆提供控制手臂的API，API的編號對應手臂控制器鎖定的編號，相同編號並且鎖定的手臂會執行對應的任務。

### Blockly 範例

![](https://3423568874-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2Fgmii-tw%2F-M2r4JM8vehmrn9XcCIw%2F-M2r6Bz4FA-vb-Wk_XrV%2Fmagician_example_blockly.png?generation=1584693825872743\&alt=media)

### Python 範例

```
from api import GmiiVisionAPI
import time

GmiiVisionSocket = GmiiVisionAPI.load()


i = None


while True:
  GmiiVisionAPI.DobotMagician_SetPTPCommonParams(GmiiVisionSocket, 0, 100, 100)
  GmiiVisionAPI.DobotMagician_SetPTPCmd(GmiiVisionSocket, 0, 0, [200, (-30), 0, 0])
  GmiiVisionAPI.DobotMagician_WaitQueuedCmdCompleted(GmiiVisionSocket, 0)
  GmiiVisionAPI.DobotMagician_SetPTPCommonParams(GmiiVisionSocket, 0, 30, 30)
  for i in range(1, 7):
    GmiiVisionAPI.DobotMagician_SetPTPCmd(GmiiVisionSocket, 0, 7, [10, 10,  0, 0])
    GmiiVisionAPI.DobotMagician_WaitQueuedCmdCompleted(GmiiVisionSocket, 0)
```