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cheng
2026-06-09 11:23:14 +08:00
parent a2c820bce5
commit 886e5df5ee
13 changed files with 16 additions and 13 deletions
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gripper_control_02/controller.py
+6 -4
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@@ -342,8 +342,10 @@ class SideTriggerGripController:
action = f"open-recover-position pos={current_pos}"
elif (
now - recover_position_since
>= config.open_position_stable_seconds
and now - state_start >= config.rearm_seconds
>= max(
config.open_position_stable_seconds,
config.rearm_seconds,
)
):
state = "open_wait"
state_start = now
@@ -364,8 +366,8 @@ class SideTriggerGripController:
recover_quiet_since = now
action = "open-recover-quiet"
elif (
now - recover_quiet_since >= config.recover_stable_seconds
and now - state_start >= config.rearm_seconds
now - recover_quiet_since
>= max(config.recover_stable_seconds, config.rearm_seconds)
):
state = "open_wait"
state_start = now