Make grab() intelligent and add speed to arm + gripper #7
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Implement moveOptions pattern for configuring speed and acceleration parameters: **Arm (arm.go):** - Add moveOptions struct to hold speed and acceleration parameters - Implement buildMoveOptions() method following xarm precedence: 1. Config defaults (speed_degs_per_sec, acceleration_degs_per_sec_per_sec) 2. arm.MoveOptions (MaxVelRads, MaxAccRads) 3. Extra map parameters (speed_r, speed_d, acceleration_r, acceleration_d) - Update MoveToJointPositions to use moveOptions and pass to controller - Update MoveThroughJointPositions to propagate options - DoCommand already supports set_speed and set_acceleration for runtime changes **Gripper (gripper.go):** - Add gripperMoveOptions struct - Add buildMoveOptions() method with same parameter precedence - Add config fields for default speed/acceleration with validation - Update Open, Grab, and set_position to use moveOptions - Add DoCommand support for set_speed and set_acceleration (xarm pattern) **Controller (manager.go):** - Document that speed/acc parameters are accepted but not yet applied - Add TODO for future feetech-servo library support Speed/acceleration are configurable via: - Config attributes (defaults) - Extra params per move operation - DoCommand for runtime updates This matches the Viam xarm module implementation pattern.
Update MoveToJointPositions and MoveServosToPositions to use the feetech-servo SetPositionsWithSpeed() method when speed is specified. Changes: - Use SetPositionsWithSpeed with speed map when speed > 0 - Fall back to SetPositions when speed is 0 or not specified - Create speed map where all servos use the same speed value - Remove TODO about future support (now implemented) - Add note that acceleration is not yet supported by feetech-servo This enables the speed parameters configured in arm.go and gripper.go to actually control servo movement speed. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>
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