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refactor control commands to accept speed parameter for gripper, angles, and coords #309

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refactor control commands to accept speed parameter for gripper, angles, and coords #309

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12 changes: 9 additions & 3 deletions src/ac_training_lab/cobot280pi/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,9 @@
def handle_control_gripper(args, cobot):
logger.info(f"running command control/gripper with {args}")
try:
cobot.set_gripper_value(**args)
gripper_value = args["gripper_value"]
speed = args["speed"]
cobot.set_gripper_value(gripper_value, speed)
return {"success": True}
except Exception as e:
logger.critical(f"control gripper error: {str(e)}")
Expand All @@ -39,7 +41,9 @@ def handle_control_gripper(args, cobot):
def handle_control_angles(args, cobot):
logger.info(f"running command control/angle with {args}")
try:
cobot.send_angles(**args)
angles = args["angles"]
speed = args["speed"]
cobot.send_angles(angles, speed)
return {"success": True}
except Exception as e:
logger.critical(f"control angle error: {str(e)}")
Expand All @@ -49,7 +53,9 @@ def handle_control_angles(args, cobot):
def handle_control_coords(args, cobot):
logger.info(f"running command control/coord with {args}")
try:
cobot.send_coords(**args)
coords = args["coords"]
speed = args["speed"]
cobot.send_coords(coords, speed)
return {"success": True}
except Exception as e:
logger.critical(f"control coords error: {str(e)}")
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