first commit

gripper_control_02/config/gripper_demo_02.py

@@ -29,7 +29,7 @@ SENSOR_CPU = False
 
 
 # 夹爪串口配置。
-PORT = "COM5"
+PORT = "COM6"
 SLAVE_ID = 1
 BAUDRATE = 115200
 SERIAL_TIMEOUT = 0.2
@@ -79,9 +79,10 @@ OPEN_WAIT_STABLE_TREND_N = 0.015    # 近期样本首尾变化小于该值，认
 
 
 # 闭合夹取：物体移动到中间后，左右两边都超过该阈值就认为夹住。
-GRIP_NORMAL_FORCE = 0.05     # 双侧接触阈值，单位 N。
+GRIP_NORMAL_FORCE = 0.2     # 双侧接触阈值，单位 N。
 GRIP_REQUIRES_BOTH = True    # True 表示必须左右两侧都接触才算夹住。
 CLOSE_TIMEOUT_SECONDS = 5.0  # 触发闭合后这么久还没夹住，就重新张开等待。
+CLOSING_COMMAND_INTERVAL = 0.2  # 闭合阶段还没双侧夹上时，按该间隔续发闭合命令，避免单侧扫过后停住。
 
 
 # 检测到物体后慢慢加力，类似 01 的 gripping 状态。
@@ -211,6 +212,7 @@ CONFIG = {
     "grip_normal_force": GRIP_NORMAL_FORCE,
     "grip_requires_both": GRIP_REQUIRES_BOTH,
     "close_timeout_seconds": CLOSE_TIMEOUT_SECONDS,
+    "closing_command_interval": CLOSING_COMMAND_INTERVAL,
     "force_ramp_step": FORCE_RAMP_STEP,
     "force_ramp_interval": FORCE_RAMP_INTERVAL,
     "grip_settle_seconds": GRIP_SETTLE_SECONDS,

gripper_control_02/controller.py

@@ -326,7 +326,15 @@ class SideTriggerGripController:
                     reference = None
                     action = "close-timeout-open"
                 else:
-                    action = "closing-to-grip"
+                    if (
+                        config.closing_command_interval > 0
+                        and now - last_force_ramp_time >= config.closing_command_interval
+                    ):
+                        self.gripper.close(force_pct, "closing-continue")
+                        last_force_ramp_time = now
+                        action = "closing-continue"
+                    else:
+                        action = "closing-to-grip"
 
             elif state == "gripping":
                 if (

gripper_control_02/settings.py

@@ -69,6 +69,7 @@ class Demo02Config:
     grip_normal_force: float = 0.05
     grip_requires_both: bool = True
     close_timeout_seconds: float = 5.0
+    closing_command_interval: float = 0.2
     force_ramp_step: int = 1
     force_ramp_interval: float = 0.1
     grip_settle_seconds: float = 0.1
@@ -161,6 +162,7 @@ class Demo02Config:
         add("--grip-requires-both", dest="grip_requires_both", action="store_true", default=get("grip_requires_both", cls.grip_requires_both))
         add("--allow-single-side-grip", dest="grip_requires_both", action="store_false")
         add("--close-timeout-seconds", type=float, default=get("close_timeout_seconds", cls.close_timeout_seconds))
+        add("--closing-command-interval", type=float, default=get("closing_command_interval", cls.closing_command_interval))
         add("--force-ramp-step", type=int, default=get("force_ramp_step", cls.force_ramp_step))
         add("--force-ramp-interval", type=float, default=get("force_ramp_interval", cls.force_ramp_interval))
         add("--grip-settle-seconds", type=float, default=get("grip_settle_seconds", cls.grip_settle_seconds))

gripper_control_02/visualizer.py

@@ -114,6 +114,7 @@ ACTION_TEXT = {
     "open-wait-stabilizing": "等待稳定基准",
     "open-wait-armed": "已就绪",
     "side-trigger-close": "侧边触发闭合",
+    "closing-continue": "继续闭合",
     "closing-to-grip": "闭合寻找物体",
     "object-detected-low-force": "检测到物体",
     "close-timeout-open": "闭合超时张开",