opt gripper speed,add gripper_stop() API

* opt gripper speed,add gripper_stop() API

Author: wangWking

docs/MyCobot_280_en.md

@@ -682,7 +682,7 @@ mc.send_angle(1, 40, 20)
 
   - `flag (int) `: 0 - open 1 - close, 254 - release
 
-  - `speed (int)`: 1 ~ 100
+  - `speed (int)`: 0 ~ 100
 
   - `_type_1 (int)`:
 
@@ -704,7 +704,7 @@ mc.send_angle(1, 40, 20)
 
   - `gripper_value (int) `: 0 ~ 100
 
-  - `speed (int)`: 1 ~ 100
+  - `speed (int)`: 0 ~ 100
 
   - `gripper_type (int)`:
 
@@ -718,6 +718,12 @@ mc.send_angle(1, 40, 20)
 - **Return value**：
   - `1`: complete
 
+#### `gripper_stop()`
+
+- **Function**: Stop gripper movement
+- **Return value**:
+  - `1`: Completed
+
 #### `set_gripper_calibration()`
 
 - **function**: Set the current position of the gripper to zero

docs/MyCobot_280_zh.md

@@ -666,7 +666,7 @@ mc.send_angle(1, 40, 20)
 
   - `flag (int) `: 0 - 打开 1 - 关闭, 254 - 释放
 
-  - `speed (int)`: 1 ~ 100
+  - `speed (int)`: 0 ~ 100
 
   - `_type_1 (int)`:
 
@@ -688,7 +688,7 @@ mc.send_angle(1, 40, 20)
 
   - `gripper_value (int) `: 0 ~ 100
 
-  - `speed (int)`: 1 ~ 100
+  - `speed (int)`: 0 ~ 100
 
   - `gripper_type (int)`:
 
@@ -702,6 +702,12 @@ mc.send_angle(1, 40, 20)
 - **返回值**：
   - `1`: 完成
 
+#### `gripper_stop()`
+
+- **功能**: 停止夹爪运动
+- **返回值**：
+  - `1`: 完成
+
 #### `set_gripper_calibration()`
 
 - **功能**: 将夹爪的当前位置设置为零位

pymycobot/error.py

@@ -514,6 +514,13 @@ def calibration_parameters(**kwargs):
                         "speed value not right, should be 1 ~ 100, the received speed is %s"
                         % value
                     )
+            elif parameter == 'gripper_speed':
+                check_value_type(parameter, value_type, MyCobot280DataException, int)
+                if not 0 <= value <= 100:
+                    raise MyCobot280DataException(
+                        "speed value not right, should be 0 ~ 100, the received speed is %s"
+                        % value
+                    )
             elif parameter == 'flag':
                 check_0_or_1(parameter, value, [0, 1, 254], value_type, MyCobot280DataException, int)
             elif parameter == 'gripper_type':

pymycobot/mycobot280.py

@@ -736,7 +736,7 @@ def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
 
         Args:
             flag  (int): 0 - open, 1 - close, 254 - release
-            speed (int): 1 ~ 100
+            speed (int): 0 ~ 100
             _type_1 (int): default 1
                 1 : Adaptive gripper. default to adaptive gripper
                 2 : 5 finger dexterous hand
@@ -746,7 +746,7 @@ def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
                 1: Force control
                 0: Non-force control
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1,
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, gripper_speed=speed, _type_1=_type_1,
                                     is_torque=is_torque)
         args = [flag, speed]
         if _type_1 is not None:
@@ -760,7 +760,7 @@ def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=N
 
         Args:
             gripper_value (int): 0 ~ 100
-            speed (int): 1 ~ 100
+            speed (int): 0 ~ 100
             gripper_type (int): default 1
                 1: Adaptive gripper
                 3: Parallel gripper, this parameter can be omitted
@@ -769,7 +769,7 @@ def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=N
                 1: Force control
                 0: Non-force control
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, gripper_speed=speed,
                                     gripper_type=gripper_type, is_torque=is_torque)
         args = [gripper_value, speed]
         if gripper_type is not None:
@@ -878,6 +878,10 @@ def check_async_or_sync(self):
         """
         return self._mesg(ProtocolCode.CHECK_ASYNC_OR_SYNC, has_reply=True)
 
+    def gripper_stop(self):
+        """Stop gripper"""
+        return self.set_gripper_value(0, 0)
+
     # Other
     def wait(self, t):
         time.sleep(t)

pymycobot/mycobot280socket.py

@@ -769,7 +769,7 @@ def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
 
         Args:
             flag  (int): 0 - open, 1 - close, 254 - release
-            speed (int): 1 ~ 100
+            speed (int): 0 ~ 100
             _type_1 (int): default 1
                 1 : Adaptive gripper. default to adaptive gripper
                 2 : 5 finger dexterous hand
@@ -779,7 +779,7 @@ def set_gripper_state(self, flag, speed, _type_1=None, is_torque=None):
                 1: Force control
                 0: Non-force control
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, speed=speed, _type_1=_type_1,
+        self.calibration_parameters(class_name=self.__class__.__name__, flag=flag, gripper_speed=speed, _type_1=_type_1,
                                     is_torque=is_torque)
         args = [flag, speed]
         if _type_1 is not None:
@@ -793,7 +793,7 @@ def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=N
 
         Args:
             gripper_value (int): 0 ~ 100
-            speed (int): 1 ~ 100
+            speed (int): 0 ~ 100
             gripper_type (int): default 1
                 1: Adaptive gripper
                 3: Parallel gripper, this parameter can be omitted
@@ -802,7 +802,7 @@ def set_gripper_value(self, gripper_value, speed, gripper_type=None, is_torque=N
                 1: Force control
                 0: Non-force control
         """
-        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, speed=speed,
+        self.calibration_parameters(class_name=self.__class__.__name__, gripper_value=gripper_value, gripper_speed=speed,
                                     gripper_type=gripper_type, is_torque=is_torque)
         args = [gripper_value, speed]
         if gripper_type is not None:
@@ -911,6 +911,10 @@ def check_async_or_sync(self):
         """
         return self._mesg(ProtocolCode.CHECK_ASYNC_OR_SYNC, has_reply=True)
 
+    def gripper_stop(self):
+        """Stop gripper"""
+        return self.set_gripper_value(0, 0)
+
     # Other
     def wait(self, t):
         time.sleep(t)