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SET_CART_LIN_VEL

Set the robot arm's linear velocity in Cartesian coordinates.Params:ip_address : TextBlobThe IP address of the robot arm.v : floatThe velocity to be set.Returns:ip_address : TextBlobThe IP address of the robot arm.
Python Code
from flojoy import TextBlob, flojoy
from PYTHON.utils.mecademic_state.mecademic_state import query_for_handle


@flojoy(deps={"mecademicpy": "1.4.0"})
def SET_CART_LIN_VEL(ip_address: TextBlob, v: float) -> TextBlob:
    """
    Set the robot arm's linear velocity in Cartesian coordinates.

    Parameters
    ----------
    ip_address: TextBlob
        The IP address of the robot arm.
    v : float
        The velocity to be set.

    Returns
    -------
    ip_address: TextBlob
        The IP address of the robot arm.
    """

    robot = query_for_handle(ip_address)
    robot.SetCartLinVel(v)
    return ip_address

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Example

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In this example, the SET_CART_LIN_VEL node sets the linear velocity of the robot arm in Cartesian coordinates.

The node takes in a single parameter, v, which is the velocity to be set for the robot arm’s movements.

After setting the velocity, the node doesn’t wait for any specific state, meaning it’s often used in conjunction with other movement nodes to control the speed of those movements.

The SET_CART_LIN_VEL node is useful in workflows where you need to control the speed of the robot arm’s linear movements, such as when you’re trying to synchronize the robot arm with another moving object.