Configuration

Speed and Acceleration Limits

Set speed and acceleration limits for the 7 joints.

from realhand import A7

with A7(side="left", interface_name="can0") as arm:
    arm.enable()
    # Set the speed limit of all joints to 1.0 rad/s
    arm.set_velocities([1.0] * 7)
    # Set acceleration limits individually
    arm.set_accelerations([10.0, 9.0, 8.0, 7.0, 6.0, 5.0, 4.0])

Method	Parameter	Range	Description
`set_velocities(velocities)`	Velocity limits for 7 joints (rad/s)	[0.0, 50.0]	Default `0.5`
`set_accelerations(accelerations)`	Acceleration limits for 7 joints (rad/s²)	[1.0, 50.0]	Default `10.0`; sets acceleration and deceleration together

Exception: ValidationError (exactly 7 values are required, and all values must be within range)

PID Parameter Settings

Set PID parameters for the 7 joints.

from realhand import A7

with A7(side="left", interface_name="can0") as arm:
    arm.set_position_kps([100.0] * 7)
    arm.set_velocity_kps([0.5] * 7)
    arm.set_velocity_kis([0.01] * 7)

Method	Parameter	Description
`set_position_kps(kps)`	Position Kp values for 7 joints	Proportional gain of the position loop
`set_velocity_kps(kps)`	Velocity Kp values for 7 joints	Proportional gain of the velocity loop
`set_velocity_kis(kis)`	Velocity Ki values for 7 joints	Integral gain of the velocity loop

Parameter Quick Reference

Parameter type	Default	Range
Speed limit	0.5 rad/s	[0.0, 50.0] rad/s
Acceleration limit	10.0 rad/s²	[1.0, 50.0] rad/s²
`move_l` max linear speed	0.05 m/s	(0, 0.4] m/s
`move_l` max angular speed	0.3 rad/s	(0, 3.0] rad/s
`move_l` linear acceleration	0.1 m/s²	(0, 1.0] m/s²
`move_l` angular acceleration	0.1 rad/s²	(0, 1.0] rad/s²

Example

Move After Setting PID, Speed, and Acceleration Limits

from realhand import A7

with A7(side="left", interface_name="can0") as arm:
    arm.set_position_kps([80.0] * 7)
    arm.set_velocity_kps([0.4] * 7)
    arm.set_velocity_kis([0.008] * 7)
    arm.enable()
    arm.set_velocities([1.0] * 7)
    arm.set_accelerations([10.0] * 7)
    arm.home(blocking=True)
    arm.move_j([0.0, 0.0, 0.0, 1.57, 0.0, 0.0, 0.0], blocking=True)

Parameter Persistence

Call save_params() to write the current PID, speed, acceleration, and related parameters to motor flash so they remain effective after power loss.

from realhand import A7

with A7(side="left", interface_name="can0") as arm:
    arm.set_position_kps([80.0] * 7)
    arm.set_velocity_kps([0.4] * 7)
    arm.save_params()  # Save to flash

Note: Each write takes about 1 ms. Avoid calling this in real-time control loops.

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