fix(pf400): restore monitor speed on init + expose speed control#105
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fix(pf400): restore monitor speed on init + expose speed control#105moeltae wants to merge 1 commit into
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The PF400 scales every motion by its global monitor speed (mspeed, 1-100). Nothing in the stack ever set it, so the arm inherited whatever governor was left behind by manual jogging/teaching (commonly 10-30%), silently slowing every automated move. - driver: set mspeed to a configured value (default 100) on every initialize() via _ensure_system_speed(); non-fatal on failure. - config: add system_speed field (pf400.proto Config + RobotConfig), default 100; server reads it and maps unset(0) -> 100. - server: add SetSpeed/GetSpeed gRPC commands so a teach-pendant speed slider can drive mspeed live (plus Estimate* handlers for sim mode). - server: add a "transit" default motion profile (inrange=-1) enabling continuous-path blending on fast point-to-point legs; approach/place keep inrange=0 profiles for precise settling. Validated: proto compiles and generates the new symbols; mspeed clamping/default, SetSpeed/GetSpeed dispatch, and profile config are covered by stubbed checks. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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July 17, 2026 23:14
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Why the PF400 was moving slowly
The PF400 scales every motion by its global monitor speed
mspeed(a 1–100 governor). The driver hadset_sys_speed/get_sys_speeddefined but never called anywhere — so the arm ran at whatevermspeedthe last manual jog / teach-pendant session left behind (commonly 10–30%), silently slowing all automated moves.Changes
driver.py— the fix:_ensure_system_speed()runs on everyinitialize()and setsmspeedto a configured value (default 100), clamped to 1–100. Non-fatal if it fails, so a bad governor can't block startup. Logs previous → new value.pf400.proto/RobotConfig: newsystem_speedconfig field (default 100; unset/0 → 100).server.py: wiressystem_speedinto the driver; addsSetSpeed/GetSpeedgRPC commands (+Estimate*for sim mode) so a teach-pendant speed slider can drivemspeedlive.server.py: adds atransitdefault motion profile (inrange=-1) enabling continuous-path blending on fast point-to-point legs — groundwork; approach/place keepinrange=0profiles for precise settling.Validation
mspeedclamping/default (0→100, 250→100, 30→30),SetSpeedclamping (150→100, 0→1),GetSpeedmeta_data, transit profile (inrange=-1).Notes / follow-ups
*_pb2are gitignored (built at install) — rebuild the package for the server to pick upConfig.system_speedand the new commands. Takes effect on next toolConfigure/initialize.transitprofile is not yet wired into sequences (prod loads profiles from the Galago DB); applying blending to transit legs is a follow-up needing hardware tuning.device-controllersPF400 init has the same omission (Robot.cshasmspeedplumbing but doesn't set it) — same one-line fix applies.This is Phase 1 of a larger PF400 / teach-pendant plan (jog overhaul, safety/recovery commands, richer status + teaching, pendant UI).
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