#!/usr/bin/env python3
# -*-coding:utf8-*-
# 注意demo无法直接运行，需要pip安装sdk后才能运行
from typing import (
    Optional,
)
import time
from piper_sdk import *

if __name__ == "__main__":
    piper = C_PiperInterface("can0")
    piper.ConnectPort()
    print(piper.GetSDKJointLimitParam('j6'))
    print(piper.GetSDKGripperRangeParam())
    piper.SetSDKGripperRangeParam(0, 0.05)
    piper.SetSDKJointLimitParam('j6',-2.09, 2.09)
    print(piper.GetSDKJointLimitParam('j6'))
    print(piper.GetSDKGripperRangeParam())
