script/motion/mount.py

@@ -0,0 +1,16 @@
+def mount(segment, puck, sample, unmount = False):
+    """
+    """
+    cmd = "firstmount" if unmount else "mount"
+    assertValidAddress(segment, puck, sample)
+
+    hexiposi.move(segment)
+
+    img_segment = get_img_cover_pos()
+    if img_segment != segment:
+        raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment))
+
+    if type(segment) == str:
+        segment = ord(segment.upper()) - ord('A') +1
+    robot.start_task(cmd,segment, puck, sample)
+    #robot.mount(segment, puck, sample)

script/motion/tools.py

@@ -68,6 +68,15 @@ def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
     robot.set_tool_trsf(t, tool)
     print "Updated " + (str(robot.tool) if (tool is None) else tool) + ": " + str(t) 
     robot.save_program()
-    
 
 
+def assertValidAddress(segment, puck, sample):
+    if type(segment) == str:
+        segment = ord(segment.upper()) - ord('A') +1
+    if segment<=0 or segment >6:
+        raise Excepton ("Invalid segment")
+    if puck<=0 or puck >5:
+        raise Excepton ("Invalid puck")
+    if sample<=0 or sample >16:
+        raise Excepton ("Invalid sample")
+        

script/motion/unmount.py

@@ -0,0 +1,15 @@
+def unmount(segment, puck, sample):
+    """
+    """
+    assertValidAddress(segment, puck, sample)
+
+    hexiposi.move(segment)
+
+    img_segment = get_img_cover_pos()
+    if img_segment != segment:
+        raise Excepton ("Image detection of cover does not match hexiposi: " + str(img_segment))
+
+    if type(segment) == str:
+        segment = ord(segment.upper()) - ord('A') +1
+
+    robot.unmount(segment, puck, sample)