first commit

2026-06-29 17:14:42 +08:00
parent 9ef1c8782a
commit c609c3901f
18 changed files with 49 additions and 4 deletions
@@ -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 (