Updated motion profiles with approach return movements

Author: Dozgulbas

src/pf400_interface/pf400.py

@@ -884,19 +884,24 @@ def _handle_approach_location(self, approach: LocationArgument) -> None:
                 profile=self.fast_motion_profile,
             )
 
-    def _handle_approach_return(self, approach: LocationArgument) -> None:
+    def _handle_approach_return(
+        self, approach: LocationArgument, default_motion: Optional[str] = None
+    ) -> None:
         """
         Handle returning from an approach location, whether single or multiple.
         Uses straight motion profile for the first approach location (closest to target),
         and fast motion profile for remaining approach locations.
         """
         if isinstance(approach.representation[0], list):
             for index, location in enumerate(reversed(approach.representation)):
-                motion_profile = (
-                    self.straight_motion_profile
-                    if index == 0
-                    else self.fast_motion_profile
-                )
+                if index == 0:
+                    motion_profile = self.straight_motion_profile
+                else:
+                    motion_profile = (
+                        default_motion
+                        if default_motion is not None
+                        else self.fast_motion_profile
+                    )
                 self.move_joint(
                     target_joint_angles=location,
                     profile=motion_profile,
@@ -1013,7 +1018,9 @@ def pick_plate(
         )
 
         if source_approach:
-            self._handle_approach_return(source_approach)
+            self._handle_approach_return(
+                approach=source_approach, default_motion=self.slow_motion_profile
+            )
         else:
             self.move_all_joints_neutral(source.representation)
 
@@ -1093,7 +1100,9 @@ def place_plate(
         )
 
         if target_approach:
-            self._handle_approach_return(target_approach)
+            self._handle_approach_return(
+                approach=target_approach, default_motion=self.fast_motion_profile
+            )
         else:
             self.move_all_joints_neutral(target.representation)