CHANGELOG

v1.4.0 (2026-05-13)

Bug fixes

  • notebook: update initialization with new parameters accelOffset and accelConversion (8df0afa)

  • calibration: show help message and exit when no arguments are provided (0e9792e)

  • calibration: improve device port detection for cross-platform support (1c47b3a)

  • DobotDriver: replace sca1000Sensors parameter by free accelConversion (340f967)

  • DobotDriver: replace math constant (a283dc8)

  • DobotSDK: refine slice skipping logic (d87df6b)

  • DobotSDK: joint limits for Dobot with SCA1000 accelerometers (1209fac)

  • DobotSDK: clip joint velocity and acceleration limits to feasible ranges (a5673a6)

  • notebook: adjust to updated constructor arguments (9d003ea)

  • DobotSDK: suppress debug output when disabled (f62e318)

  • notebook: adapt Dobot init() for SCA1000 sensors and end effector offsets (08d65d4)

  • DobotSDK: check for empty data arrays to prevent runtime errors in plotting (d994972)

  • calibrate-accelerometers: add units (°, mm) to printed outputs for clarity (204d3ff)

  • calibrate-accel: glob serial device name on linux (70de135)

  • SegmentParams._solve_common: mismatch factor calculation (5800f37)

  • Dobot._prepareAnglesSlice: order of step arithmetic for possibly negative step diffs (0b59af4)

  • DobotSDK.MoveWithSpeed: skip calculation for zero distance, prevent div-by-zero err (f5721a3)

Code style

  • notebook: disable debug output, fix comments and formatting (88c4bec)

  • DobotSDK: improve comment clarity (d5acf75)

  • DobotSDK, DobotKinematics: simplify debug methods by unifying print logic (a326e8d)

  • DobotKinematics: simplify debug method with improved string formatting (cce40d4)

  • DobotKinematics: fix spelling, improve formatting, and add static methods (d876f09)

  • DobotKinematics: indenting: tabs to spaces (ad4eb26)

  • DobotDriver: black formatting consistency (47acbe9)

  • DobotSDK: improve string formatting consistency and minor grammar fix (faf4f66)

  • DobotDriver+SDK: convert indents to spaces (2b4618a)

  • DobotDriver: consistent formatting and minor spelling corrections (9d067e2)

  • style: spelling (e63e525)

Continuous integration

  • ci: publish job with pypi environment (07ac694)

  • ci: set Python version to 3.14 (d333a81)

Documentation

  • Project: update image URLs, improve instructions, and refine templates (faa7d6d)

  • LICENSE: minor formatting (608f279)

  • README: Update from project template (651e1b6)

  • license: add MIT License and update copyright information in README (4456257)

  • README: clarify source and firmware requirement (1c815d4)

  • README: add detailed instructions for enabling accelerometer reporting mode (3ef1c26)

  • README: adjust circle path image size (ecd5a2a)

  • README: update with motion planning, accelerometer calibration, and usage details (7a32c79)

  • README: typo (6daf0fb)

  • README: fix broken links to maxosprojects repository (1248840)

  • README: fix broken links to maxosprojects repository (6af60d8)

  • README: fix broken links to maxosprojects repository (77e1169)

  • docs: add initial README for Dobot v1 Control (620cfee)

  • docs: author list updated (ced77dd)

  • notebook: comments added debug output disabled (1acbd7e)

  • docs: improve grammar, consistency, and clarity in comments and docstrings (de05319)

  • calibrate-accelerometers: improve instructions formatting and grammar adjustments (01bed53)

  • DobotDriver: fix and add docstrings for all methods and their parameters (27112ca)

  • DobotDriver: add comprehensive docstring for class initialization parameters (f53659f)

  • DobotSDK.init: add detailed docstring for class initialization parameters (d2399eb)

Features

  • calibration: add CLI option for end effector offset (dc9e38b)

  • calibration: refine accelerometer calibration with detailed offsets and conversion calculation (8ea7f7b)

  • calibration: add CLI options for first and second calibration positions (0c16710)

  • calibration: add positions mode (0742986)

  • DobotSDK: add accelOffset parameter and pass to driver for accelerometer configuration (f6a3bf9)

  • DobotKinematics: add unit tests for kinematics and improve documentation (3553123)

  • DobotSDK: add posAngles property for joint angle position (daa8585)

  • DobotSDK: add static method to format positional data (8cbfabd)

  • DobotSDK: introduce configurable angular limits for joints (4f041f6)

  • DobotSDK: add configurable joint velocity and acceleration limits with updated docstrings (2c25e71)

  • DobotKinematics, DobotSDK: add configurable end effector offset with updated docstrings (b3cf044)

  • DobotDriver: add support for SCA1000-D01 sensors with configurable accel conversion (bc377b4)

  • calibrate-accel: limit sensor queries to 4 per seconds (53174d4)

  • notebook: jupyter notebook for testing SDK and movements semi-interactively (628725e)

  • DobotSDK: omit debug output in non-debug mode (fad4182)

  • DobotSDK: Dobot.pos remembers own absolute coordinates (1c73253)

Refactoring

  • docs/codebase: standardize author/license fields, remove unused docs (abbd27c)

  • Codebase: align formatting to PEP8, improve readability (934f6de)

  • Project: file structure standardized, tool config added (2096409)

  • Dobot: remove joint angle limits, revert 4f041f60 (f111647)

  • DobotSDK: move valueToStr and arrayToStr to DobotBase (03c74eb)

  • DobotSDK: move accel offset to driver (4c1bb09)

  • DobotBase: centralize axes/joint names for consistency (08bdbf0)

  • DobotSDK: remove unused code; fix debug output (8fe79a2)

  • DobotKinematics: return NumPy arrays (3f23766)

  • DobotSDK: move utility functions for array debugging and printing (f6525cd)

  • DobotSDK, DobotKinematics, DobotDriver: introduce to centralize debugging functionality (e6adbc6)

  • DobotKinematics: remove unused function and constants (053f192)

  • DobotDriver: remove accel*ToAngle() (ca090ea)

  • Dobot.InitializeAccelerometers: new _get_accelerometers_raw() used by fpga & non-fpga variant (5a0ca9a)

  • DobotSDK._moveToAnglesSlice: enable skipping of zero-step slices (cece309)

  • DobotSDK.MoveWithSpeed: precise motion planning and velocity synchronization across multiple segments (a6faae2)

  • DobotSDK.MoveWithSpeed: synchronize joint-indiv. acceleration and deceleration phases for multiple segments (4a5b237)

  • DobotDriver: replace exit with sys.exit for clearer intent and consistency (e60c006)

  • DobotSDK.MoveWithSpeed: optimize motion planning with lookahead waypoint speed profiling (89be1df)

  • DobotKinematics.anglesFromCoordinates: add debug flag and expect vector input (13ab38b)

  • DobotSDK.MoveWithSpeed: vectorize target position (92afda0)

  • notebook: remove lower-level driver control, adjust high-level control (aa0e18a)

  • DobotSDK, DobotDriver: streamline joint commands and plotting logic with vectorized data structures (3141874)

  • DobotSDK.MoveWithSpeed: vectorize step calculations using NumPy for cleaner logic (88d02f8)

  • notebook: comment on device permissions and usage (0fb9e0c)

  • DobotSDK: consolidate coordinate tracking logic and enhance plotting with slice data visualization (e783709)

  • DobotSDK: introduce DobotPlotter class for enhanced plotting and clean up legacy code (84b5df4)

  • DobotSDK: clean up unused methods, improve formatting, and fix minor issues (55d3983)

  • DobotDriver: update timeout parameter and remove unused methods (da627a6)

Unknown Scope

  • let git ignore python temp files (749f87a)

v1.3.0 (2026-03-31)

Unknown Scope

  • initial import of original code from maxosprojects/open-dobot (357d3f8)