From 5eaf077fb7323e9723ba57d7f04bc17f623afe29 Mon Sep 17 00:00:00 2001
From: Falloimitator <160591701+Falloimitator@users.noreply.github.com>
Date: Fri, 23 May 2025 17:13:26 +0300
Subject: [PATCH] set params

---
 main.py  | 10 ++++++----
 utils.py | 13 +++++++++++++
 2 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/main.py b/main.py
index f7b9ee7..bc07698 100644
--- a/main.py
+++ b/main.py
@@ -33,10 +33,12 @@ config = {
 
 def main():
     robot = RobotClient(HOST, PORT)
-    robot.set_joint_maxacc(2)
-    robot.set_joint_maxvelc(2)
-#    robot.move_linear_cartesian(config["pre_grasp_position"])
-    robot.move_to_pose(config["pre_grasp_position"])
+    #robot.set_joint_maxacc(3)
+    #robot.set_joint_maxvelc(3)
+    #robot.set_end_max_line_velc(0.6)
+    robot.set_end_max_line_acc(0.8)
+    robot.move_linear_cartesian(config["pre_grasp_position"])
+#    robot.move_to_pose(config["pre_grasp_position"])
 #    robot.move_to_pose(config["grasp_position"])
 #    robot.move_to_pose(config["post_grasp_position"])
     robot.close()
diff --git a/utils.py b/utils.py
index 7d17e4f..7594a7c 100644
--- a/utils.py
+++ b/utils.py
@@ -258,6 +258,19 @@ class RobotClient:
         ret = self._send_single_json(cmd)
         if ret.get("msg") != "succ":
             raise RuntimeError(f"set_joint_maxvelc failed: {ret}")
+        
+    def set_end_max_line_velc(self, vel: float):
+        cmd = {"command": "set_end_max_line_velc", "end_maxvelc": vel}
+        ret = self._send_single_json(cmd)
+        if ret.get("msg") != "succ":
+            raise RuntimeError(f"set_end_max_line_velc failed: {ret}")
+        
+    def set_end_max_line_acc(self, vel: float):
+        cmd = {"command": "set_end_max_line_acc", "end_maxacc": vel}
+        ret = self._send_single_json(cmd)
+        if ret.get("msg") != "succ":
+            raise RuntimeError(f"set_end_max_line_acc failed: {ret}")
+        
 
     def close(self):
         self.sock.close()