From 300e719167fe8230cd65f1d6941195b4d3fb1cf1 Mon Sep 17 00:00:00 2001 From: appleb_m Date: Mon, 22 Dec 2025 09:35:24 +0100 Subject: [PATCH] DAQ: moved wait_ready() earlier to see if this resolves a robot timing issue with the gripper. The different wait comamnds ahve simialr logic but seem to break. Needs exploring in the new year. --- daq/src/aaredaq/daq.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/daq/src/aaredaq/daq.py b/daq/src/aaredaq/daq.py index 0458dea6..0e52a4db 100644 --- a/daq/src/aaredaq/daq.py +++ b/daq/src/aaredaq/daq.py @@ -390,14 +390,14 @@ class AareDAQ: #Reenable TELL after doors locked logger.info("enable tell motion after doors locked") self.__devs.tell.check_enable_motion() - + logger.info("Waiting for tell to be ready") + self.__devs.tell.wait_ready() self.__devs.tell.wait_mount_complete() logger.debug("Moving tell to mount position") self.__devs.tell.set_in_mount_position(True) curr_sample = self.__cfg.current_sample - logger.info("Waiting for tell to be ready") - self.__devs.tell.wait_ready() + if curr_sample is not None and curr_sample.location is None: logger.info(f"Unmounting current sample") # TODO: Smarter way to know manual sample has be removed from goniometer