| XY_MIN, XY_MAX = 50, 800 | |
| X_MIN,X_MAX = 0, 800 | |
| Y_MIN,Y_MAX = -350, 350 | |
| Z_MIN, Z_MAX = 110, 650 | |
| MOVE_RATE = 1000 # hz; macro velocity = move_rate * xyz_velocity | |
| MOVE_SLEEP = 1 / MOVE_RATE | |
| XYZ_VELOCITY = 1.0 # mm (in every MOVE_SLEEP interval) | |
| ANGLE_VELOCITY_MAX = 0.05 # degree | |
| GRIPPER_OPEN_MAX = 800 | |
| GRIPPER_OPEN_MIN = 0 | |
| POSITION_UPDATE_INTERVAL = 0.02 # 100hz the reader must read faster than this | |
| COMMAND_CHECK_INTERVAL = 0.02 # 100hz command must be sent faster than this |