diff --git a/.github/workflows/python-test.yml b/.github/workflows/python-test.yml
index 200872c..3587a77 100644
--- a/.github/workflows/python-test.yml
+++ b/.github/workflows/python-test.yml
@@ -26,7 +26,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install flake8 pytest
+        pip install flake8 pytest mypy # Add mypy here
         if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
     - name: Lint with flake8
       run: |
@@ -34,6 +34,18 @@ jobs:
         flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
         # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
         flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
+    - name: Generate and Test Stubs (stubtest)
+      run: |
+        if [ -d dobotWrapperPy ]; then # Check if the directory exists
+            pip install -e .
+        fi
+
+        mkdir -p stubs/
+
+        stubgen -p dobotWrapperPy -o stubs/
+
+        stubtest dobotWrapperPy
+
     - name: Test with pytest
       run: |
         pytest
diff --git a/.gitignore b/.gitignore
index e5d6a56..41643b0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -175,3 +175,5 @@ cython_debug/
 
 py_env
 test_docs
+
+stubs/
diff --git a/dobotWrapperPy/__init__.py b/dobotWrapperPy/__init__.py
index 87b307d..4cb3052 100644
--- a/dobotWrapperPy/__init__.py
+++ b/dobotWrapperPy/__init__.py
@@ -1,6 +1,5 @@
-from .dobot import Dobot
 from .dobotapi import DobotApi
 from .dobotConnection import DobotConnection
 from .dobotasync import DobotAsync
 
-__all__ = ["Dobot", "DobotApi", "DobotConnection", "DobotAsync"]
+__all__ = ["DobotApi", "DobotConnection", "DobotAsync"]
diff --git a/dobotWrapperPy/dobot.py b/dobotWrapperPy/dobot.py
deleted file mode 100644
index 4064a91..0000000
--- a/dobotWrapperPy/dobot.py
+++ /dev/null
@@ -1,67 +0,0 @@
-from .dobotapi import DobotApi
-from .dobotConnection import DobotConnection
-import warnings
-import struct
-from .enums.ptpMode import PTPMode
-from .message import Message
-from .paramsStructures import (
-    tagPTPCommonParams,
-    tagPTPCoordinateParams,
-    tagWAITCmd,
-    tagPose,
-)
-from typing import Tuple
-
-
-class Dobot:
-    dobotApiInterface: DobotApi
-
-    def __init__(self, port: str, verbose: bool = False) -> None:
-        conn = DobotConnection(port=port)
-        self.dobotApiInterface = DobotApi(conn, verbose)
-
-    def __del__(self) -> None:
-        if hasattr(self, "dobotApiInterface") and self.dobotApiInterface is not None:
-            del self.dobotApiInterface
-
-    def go(self, x: float, y: float, z: float, r: float = 0.0) -> None:
-        warnings.warn("go() is deprecated, use move_to() instead")
-        self.move_to(x, y, z, r)
-
-    def move_to(
-        self, x: float, y: float, z: float, r: float, wait: bool = False
-    ) -> None:
-        self.dobotApiInterface.set_ptp_cmd(x, y, z, r, mode=PTPMode.MOVL_XYZ, wait=wait)
-
-    def suck(self, enable: bool) -> None:
-        self.dobotApiInterface.set_end_effector_suction_cup(enable)
-
-    def grip(self, enable: bool) -> None:
-        self.dobotApiInterface.set_end_effector_gripper(enable)
-
-    def speed(self, velocity: float = 100.0, acceleration: float = 100.0) -> None:
-        self.dobotApiInterface.set_ptp_common_params(
-            tagPTPCommonParams(velocity, acceleration)
-        )
-        self.dobotApiInterface.set_ptp_coordinate_params(
-            tagPTPCoordinateParams(velocity, velocity, acceleration, acceleration)
-        )
-
-    def wait(self, ms: int) -> None:
-        self.dobotApiInterface.set_wait_cmd(tagWAITCmd(ms))
-
-    def pose(self) -> Tuple[float, float, float, float, float, float, float, float]:
-        response: Message = self.dobotApiInterface.get_pose()
-        pos = tagPose.unpack(response.bytes())
-        return (
-            pos.x,
-            pos.y,
-            pos.z,
-            pos.r,
-            pos.jointAngle[0],
-            pos.jointAngle[1],
-            pos.jointAngle[2],
-            pos.jointAngle[3],
-        )
-
-    # TODO: Implement eio
diff --git a/dobotWrapperPy/dobotConnection.py b/dobotWrapperPy/dobotConnection.py
index 05f989f..f47d677 100644
--- a/dobotWrapperPy/dobotConnection.py
+++ b/dobotWrapperPy/dobotConnection.py
@@ -5,7 +5,7 @@
 
 class DobotConnection:
 
-    serial_conn: serial.Serial
+    serial_conn: serial.SerialBase
 
     def __init__(
         self, port: Optional[str] = None, serial_conn: Optional[serial.Serial] = None
diff --git a/dobotWrapperPy/dobotControlGUI.py b/dobotWrapperPy/dobotControlGUI.py
index d4efbcd..1c92f48 100644
--- a/dobotWrapperPy/dobotControlGUI.py
+++ b/dobotWrapperPy/dobotControlGUI.py
@@ -1,7 +1,8 @@
 from .dobotasync import DobotAsync
 import asyncio
 import tkinter as tk
-from typing import Callable, Awaitable, Any, Dict
+from typing import Callable
+import typing
 import threading
 
 
@@ -76,10 +77,10 @@ def create_styled_button(
             btn.pack(side="left", padx=10, pady=5, ipadx=5, ipady=2)
 
             # Explicitly typed event handlers for hover effects
-            def on_enter(event: Any) -> None:
+            def on_enter(event: typing.Any) -> None:
                 btn.config(bg="#0056b3")
 
-            def on_leave(event: Any) -> None:
+            def on_leave(event: typing.Any) -> None:
                 btn.config(bg="#007bff")
 
             btn.bind("<Enter>", on_enter)
@@ -140,10 +141,10 @@ def create_styled_button_grid(
             )
 
             # Basic hover effect
-            def on_enter(event: Any) -> None:
+            def on_enter(event: typing.Any) -> None:
                 btn.config(bg="#0056b3")
 
-            def on_leave(event: Any) -> None:
+            def on_leave(event: typing.Any) -> None:
                 btn.config(bg="#007bff")
 
             btn.bind("<Enter>", on_enter)
@@ -272,7 +273,7 @@ def _initial_connect_wrapper(self) -> None:
         """Wrapper to run _initial_connect as an asyncio task."""
         asyncio.create_task(self._initial_connect())
 
-    def _schedule_dobot_task(self, task_coro: Awaitable[Any], description: str) -> None:
+    def _schedule_dobot_task(self, task_coro: typing.Awaitable[typing.Any], description: str) -> None:
         """
         Helper to schedule an asynchronous Dobot task and update the GUI status.
         This method is called from the Tkinter thread, so it uses call_soon_threadsafe
diff --git a/dobotWrapperPy/dobotSupliment.py b/dobotWrapperPy/dobotSupliment.py
index 56ddce8..1f5d1d7 100644
--- a/dobotWrapperPy/dobotSupliment.py
+++ b/dobotWrapperPy/dobotSupliment.py
@@ -1,9 +1,9 @@
 import math
 from typing import Tuple
-from enum import Enum
+import enum
 
 
-class Direction(Enum):
+class Direction(enum.Enum):
     POSITIVE = 1
     NEGATIVE = -1
 
diff --git a/dobotWrapperPy/dobotapi.py b/dobotWrapperPy/dobotapi.py
index be2474d..21954ad 100644
--- a/dobotWrapperPy/dobotapi.py
+++ b/dobotWrapperPy/dobotapi.py
@@ -82,7 +82,7 @@ def __init__(
         self.verbose = verbose
         self.lock = threading.Lock()
         self.conn = dobot_connection
-        is_open = self.conn.serial_conn.isOpen()
+        is_open = self.conn.serial_conn.is_open
         if self.verbose:
             print(
                 "dobot: %s open" % self.conn.serial_conn.name
@@ -106,9 +106,8 @@ def close(self) -> None:
                     hasattr(self, "conn")
                     and self.conn is not None
                     and hasattr(self.conn, "serial_conn")
-                    and self.conn.serial_conn
-                    is not None  # Ensure serial_conn itself is not None
-                    and hasattr(self.conn.serial_conn, "name")
+                    and self.conn.serial_conn is not None
+                    and self.conn.serial_conn.name is not None
                 ):
                     port_name = self.conn.serial_conn.name
                 print(f"dobot: {port_name} closed")
@@ -261,7 +260,7 @@ def _read_message(self) -> Optional[Message]:
         """
         time.sleep(0.05)  # Allow data to arrive
         byte_buffer = self.conn.serial_conn.read_all()
-        if len(byte_buffer) > 0:
+        if byte_buffer is not None and len(byte_buffer) > 0:
             msg = Message(byte_buffer)
             if self.verbose:
                 print("dobot: <<", msg)
diff --git a/dobotWrapperPy/dobotasync.py b/dobotWrapperPy/dobotasync.py
index 4381e0b..b77368a 100644
--- a/dobotWrapperPy/dobotasync.py
+++ b/dobotWrapperPy/dobotasync.py
@@ -35,13 +35,14 @@
     tagARCCmd,
 )
 import asyncio
-from typing import Tuple, Optional, Set, Any, Callable, Awaitable, TypeVar
-from enum import Enum
+from typing import Tuple, Optional, Set, Callable, TypeVar
+import typing
+import enum
 import signal
 import sys
 
 
-class EndEffectorType(Enum):
+class EndEffectorType(enum.Enum):
     CUP = 0
     GRIPPER = 1
     LASER = 2
@@ -64,7 +65,7 @@ async def connect(self) -> None:
         self._loop = asyncio.get_running_loop()
         self.dobotApiInterface.initialize_robot()
 
-    def _on_sigint(self, signum: int, frame: Optional[Any]) -> None:
+    def _on_sigint(self, signum: int, frame: Optional[typing.Any]) -> None:
         print("SIGINT received. Force Stopping robot...")
         self.force_stop()
         match self._endEffectorType:
@@ -84,7 +85,7 @@ def __del__(self) -> None:
         if hasattr(self, "dobotApiInterface") and self.dobotApiInterface is not None:
             del self.dobotApiInterface
 
-    def _run_in_loop(self, func: Callable[..., _T], *args: Any) -> Awaitable[_T]:
+    def _run_in_loop(self, func: Callable[..., _T], *args: typing.Any) -> typing.Awaitable[_T]:
         if self._loop is None:
             raise Exception("Dobot not connected")
         return self._loop.run_in_executor(None, func, *args)
diff --git a/dobotWrapperPy/enums/CPMode.py b/dobotWrapperPy/enums/CPMode.py
index c655938..d6eced8 100644
--- a/dobotWrapperPy/enums/CPMode.py
+++ b/dobotWrapperPy/enums/CPMode.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class CPMode(Enum):
+class CPMode(enum.Enum):
     RELATIVE = 0
     ABSOLUTE = 1
diff --git a/dobotWrapperPy/enums/CommunicationProtocolIDs.py b/dobotWrapperPy/enums/CommunicationProtocolIDs.py
index 228bfa1..5416b83 100644
--- a/dobotWrapperPy/enums/CommunicationProtocolIDs.py
+++ b/dobotWrapperPy/enums/CommunicationProtocolIDs.py
@@ -1,7 +1,7 @@
-from enum import Enum
+import enum
 
 
-class CommunicationProtocolIDs(Enum):
+class CommunicationProtocolIDs(enum.Enum):
     # INFO
     DEVICE_INFO_BASE = 0
     DEVICE_SN = DEVICE_INFO_BASE + 0
diff --git a/dobotWrapperPy/enums/EMotorIndex.py b/dobotWrapperPy/enums/EMotorIndex.py
index 7b7c3ed..b5db238 100644
--- a/dobotWrapperPy/enums/EMotorIndex.py
+++ b/dobotWrapperPy/enums/EMotorIndex.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class EMotorIndex(Enum):
+class EMotorIndex(enum.Enum):
     STEPPER1 = 0
     STEPPER2 = 1
diff --git a/dobotWrapperPy/enums/HHTTrigMode.py b/dobotWrapperPy/enums/HHTTrigMode.py
index 9e513b0..7105647 100644
--- a/dobotWrapperPy/enums/HHTTrigMode.py
+++ b/dobotWrapperPy/enums/HHTTrigMode.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class HHTTrigMode(Enum):
+class HHTTrigMode(enum.Enum):
     TriggeredOnKeyRelease = 0x0
     TriggeredOnPeriodicInterval = 0x1
diff --git a/dobotWrapperPy/enums/IOFunction.py b/dobotWrapperPy/enums/IOFunction.py
index 7176345..86f39f1 100644
--- a/dobotWrapperPy/enums/IOFunction.py
+++ b/dobotWrapperPy/enums/IOFunction.py
@@ -1,7 +1,7 @@
-from enum import Enum
+import enum
 
 
-class IOFunction(Enum):
+class IOFunction(enum.Enum):
     DUMMY = 0  # Do not config
     DO = 1  # IO output
     PWM = 2  # PWM Output
diff --git a/dobotWrapperPy/enums/alarm.py b/dobotWrapperPy/enums/alarm.py
index 671b076..9283a51 100644
--- a/dobotWrapperPy/enums/alarm.py
+++ b/dobotWrapperPy/enums/alarm.py
@@ -1,8 +1,8 @@
-from enum import Enum
 import struct
+import enum
 
 
-class Alarm(Enum):
+class Alarm(enum.Enum):
     COMMON_RESETTING = 0x00
     COMMON_UNDEFINED_INSTRUCTION = 0x01
     COMMON_FILE_SYSTEM = 0x02
diff --git a/dobotWrapperPy/enums/jogCmd.py b/dobotWrapperPy/enums/jogCmd.py
index 82c68eb..e74ed2b 100644
--- a/dobotWrapperPy/enums/jogCmd.py
+++ b/dobotWrapperPy/enums/jogCmd.py
@@ -1,7 +1,7 @@
-from enum import Enum
+import enum
 
 
-class JogCmd(Enum):
+class JogCmd(enum.Enum):
     IDEL = 0  # Void
     AP_DOWN = 1  # X+/Joint1+
     AN_DOWN = 2  # X-/Joint1-
diff --git a/dobotWrapperPy/enums/jogMode.py b/dobotWrapperPy/enums/jogMode.py
index dd03c1c..c2b18d3 100644
--- a/dobotWrapperPy/enums/jogMode.py
+++ b/dobotWrapperPy/enums/jogMode.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class JogMode(Enum):
+class JogMode(enum.Enum):
     COORDINATE = 0
     JOINT = 1
diff --git a/dobotWrapperPy/enums/level.py b/dobotWrapperPy/enums/level.py
index e6383b6..07f2d11 100644
--- a/dobotWrapperPy/enums/level.py
+++ b/dobotWrapperPy/enums/level.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class Level(Enum):
+class Level(enum.Enum):
     LOW = 0
     HIGH = 1
diff --git a/dobotWrapperPy/enums/ptpMode.py b/dobotWrapperPy/enums/ptpMode.py
index eea1486..82658c3 100644
--- a/dobotWrapperPy/enums/ptpMode.py
+++ b/dobotWrapperPy/enums/ptpMode.py
@@ -1,7 +1,7 @@
-from enum import Enum
+import enum
 
 
-class PTPMode(Enum):
+class PTPMode(enum.Enum):
     """
     1. JUMP_XYZ,
         Jump mode,
diff --git a/dobotWrapperPy/enums/py.typed b/dobotWrapperPy/enums/py.typed
deleted file mode 100644
index e69de29..0000000
diff --git a/dobotWrapperPy/enums/realTimeTrack.py b/dobotWrapperPy/enums/realTimeTrack.py
index 1c2c64c..a05e7d7 100644
--- a/dobotWrapperPy/enums/realTimeTrack.py
+++ b/dobotWrapperPy/enums/realTimeTrack.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class RealTimeTrack(Enum):
+class RealTimeTrack(enum.Enum):
     NONREALTIME = 0
     REALTIME = 1
diff --git a/dobotWrapperPy/enums/tagVersionColorSensorAndIR.py b/dobotWrapperPy/enums/tagVersionColorSensorAndIR.py
index 1bd7845..3fded52 100644
--- a/dobotWrapperPy/enums/tagVersionColorSensorAndIR.py
+++ b/dobotWrapperPy/enums/tagVersionColorSensorAndIR.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class TagVersionColorSensorAndIR(Enum):
+class TagVersionColorSensorAndIR(enum.Enum):
     VERSION1 = 0
     VERSION2 = 1
diff --git a/dobotWrapperPy/enums/tagVersionRail.py b/dobotWrapperPy/enums/tagVersionRail.py
index 78a2971..9391286 100644
--- a/dobotWrapperPy/enums/tagVersionRail.py
+++ b/dobotWrapperPy/enums/tagVersionRail.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class tagVersionRail(Enum):
+class tagVersionRail(enum.Enum):
     VER_V1 = 0
     VER_V2 = 1
diff --git a/dobotWrapperPy/enums/triggerCondition.py b/dobotWrapperPy/enums/triggerCondition.py
index b636237..64e6db1 100644
--- a/dobotWrapperPy/enums/triggerCondition.py
+++ b/dobotWrapperPy/enums/triggerCondition.py
@@ -1,7 +1,7 @@
-from enum import Enum
+import enum
 
 
-class TriggerCondition(Enum):
+class TriggerCondition(enum.Enum):
     LEVEL_EQUAL = 0
     AD_LESS = 0
     LEVEL_UNEQUAL = 1
diff --git a/dobotWrapperPy/enums/triggerMode.py b/dobotWrapperPy/enums/triggerMode.py
index 7c2d0b7..9512064 100644
--- a/dobotWrapperPy/enums/triggerMode.py
+++ b/dobotWrapperPy/enums/triggerMode.py
@@ -1,6 +1,6 @@
-from enum import Enum
+import enum
 
 
-class TriggerMode(Enum):
+class TriggerMode(enum.Enum):
     LEVEL = 0
     AD = 1
diff --git a/mypy.ini b/mypy.ini
index b1efbe8..98c6797 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,2 +1,11 @@
 [mypy]
 strict = True
+python_version = 3.13
+ignore_errors = True
+
+[mypy-dobotWrapperPy]
+namespace_packages = True
+ignore_missing_imports = True
+
+[stubtest]
+custom_typeshed_dir = stubs/
diff --git a/requirements.txt b/requirements.txt
index 32e78a2..f12a639 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,31 @@
+attrs==25.3.0
+Automat==25.4.16
+CacheControl==0.14.3
+certifi==2025.4.26
+charset-normalizer==3.4.2
+ConfigArgParse==1.7
+constantly==23.10.4
+docutils==0.21.2
+filelock==3.18.0
+hyperlink==21.0.0
+idna==3.10
+incremental==24.7.2
 iniconfig==2.1.0
+lunr==0.7.0.post1
+msgpack==1.1.0
+mypy==1.16.1
+mypy_extensions==1.1.0
 packaging==25.0
+pathspec==0.12.1
+platformdirs==4.3.8
 pluggy==1.6.0
+pydoctor==24.11.2
 pyserial==3.5
 pytest==8.3.5
+requests==2.32.3
 setuptools==80.8.0
+Twisted==24.11.0
+types-pyserial==3.5.0.20250326
+typing_extensions==4.13.2
+urllib3==2.4.0
+zope.interface==7.2