qt第一版可视化

gripper_control/hardware.py

@@ -22,27 +22,38 @@ class GripperClient:
         )
         return self
 
-    def move(self, position, force_pct, label):
+    def move(self, position, force_pct, label, speed_pct=None, accel=None, decel=None):
         config = self.config
+        speed_pct = config.speed if speed_pct is None else speed_pct
+        accel = config.accel if accel is None else accel
+        decel = config.decel if decel is None else decel
+
         if config.dry_run:
             print(
                 f"[dry-run] {label}: temp_move "
-                f"position={position}, speed={config.speed}, force={force_pct}, "
-                f"accel={config.accel}, decel={config.decel}"
+                f"position={position}, speed={speed_pct}, force={force_pct}, "
+                f"accel={accel}, decel={decel}"
             )
             return
 
         self.motor.temp_move(
             position_mm=int(position),
-            speed_pct=int(config.speed),
+            speed_pct=int(speed_pct),
             force_pct=int(force_pct),
-            accel=int(config.accel),
-            decel=int(config.decel),
+            accel=int(accel),
+            decel=int(decel),
             trigger=True,
         )
 
-    def open(self, force_pct, label="open"):
-        self.move(self.config.open_pos, force_pct, label)
+    def open(self, force_pct, label="open", speed_pct=None, accel=None, decel=None):
+        self.move(
+            self.config.open_pos,
+            force_pct,
+            label,
+            speed_pct=speed_pct,
+            accel=accel,
+            decel=decel,
+        )
 
     def close(self, force_pct, label="close"):
         self.move(self.config.close_pos, force_pct, label)
@@ -99,4 +110,3 @@ class GripperClient:
             self.motor.trigger_motion()
         except Exception as exc:
             print(f"stop by speed=0 failed: {exc}")
-