make acceleration configurable

viam-modules · Feb 5, 2025 · ef9e561 · ef9e561
1 parent 435de77
commit ef9e561
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/ur5e_arm.cpp b/src/ur5e_arm.cpp
@@ -108,6 +108,7 @@ void UR5eArm::reconfigure(const Dependencies& deps, const ResourceConfig& cfg) {
     // extract relevant attributes from config
     host = find_config_attribute<std::string>(cfg, "host");
     speed = find_config_attribute<double>(cfg, "speed_degs_per_sec") * (M_PI / 180.0);
+    acceleration = find_config_attribute<double>(cfg, "acceleration_degs_per_sec2") * (M_PI / 180.0);
 }
 
 std::vector<double> UR5eArm::get_joint_positions(const ProtoStruct& extra) {
@@ -194,7 +195,6 @@ void UR5eArm::keep_alive() {
         mu.lock();
         read_and_noop();
         mu.unlock();
-        usleep(NOOP_DELAY);
     }
 }
 
@@ -236,7 +236,7 @@ void UR5eArm::move(std::vector<Eigen::VectorXd> waypoints) {
     BOOST_LOG_TRIVIAL(debug) << "generating trajectory with max speed: " << speed * (180.0 / M_PI) << std::endl;
     Eigen::VectorXd max_acceleration(6);
     Eigen::VectorXd max_velocity(6);
-    max_acceleration << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
+    max_acceleration << acceleration, acceleration, acceleration, acceleration, acceleration, acceleration;
     max_velocity << speed, speed, speed, speed, speed, speed;
 
     std::vector<vector6d_t> p;

diff --git a/src/ur5e_arm.hpp b/src/ur5e_arm.hpp
@@ -116,4 +116,5 @@ class UR5eArm : public Arm, public Reconfigurable {
     // variables specified by ResourceConfig and set through reconfigure
     std::string host;
     double speed;
+    double acceleration;
 };