stages.py 文件源码

def stage_stop(self):
        log.info("[stage_stop] _begin_")

        self.sg.goal_position([
            512,  # first servo value
            500,  # second servo value
            500,  # third servo value
            135,  # fourth servo value
            OPEN_EFFECTOR  # fifth servo value
        ], block=True, margin=POSITION_MARGIN)

        # add little sleepy motion in end effector for fun
        self.sg['effector']['goal_position'] = GRAB_EFFECTOR
        time.sleep(0.4)
        self.sg['effector']['goal_position'] = GRAB_EFFECTOR + 100
        time.sleep(0.4)
        self.sg['effector']['goal_position'] = GRAB_EFFECTOR
        time.sleep(0.4)
        self.sg['effector']['goal_position'] = GRAB_EFFECTOR + 30
        time.sleep(0.4)
        self.sg['effector']['goal_position'] = GRAB_EFFECTOR

        log.info("[stage_stop] _end_")