script/motion/mount.py

@@ -9,6 +9,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
 
     start = time.time()
 
+    is_aux = segment == AUX_SEGMENT
     puck_address = get_puck_address(puck)
     if puck_address is None:
         puck_obj = get_puck_obj_by_id(puck)
@@ -39,16 +40,24 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     
         #Enabling
         enable_motion()
-        
-        set_hexiposi(segment)
-        
-        if not force:        
-            visual_check_hexiposi(segment)           
-    
-        if not robot.is_dewar():
-            robot.move_dewar()      
+
+        if is_aux:
+            if not robot.is_aux():
+                robot.move_aux()      
                 
-        robot.get_dewar(segment, puck, sample)
+            robot.get_aux(sample)
+            robot.move_home()
+        
+        else:
+            set_hexiposi(segment)
+            
+            if not force:        
+                visual_check_hexiposi(segment)           
+    
+            if not robot.is_dewar():
+                robot.move_dewar()      
+                
+            robot.get_dewar(segment, puck, sample)
 
         
         set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
@@ -77,18 +86,22 @@ def mount(segment, puck, sample, force=False, read_dm=False):
             dry_mount_count = 0    
         set_setting("dry_mount_counter", dry_mount_count+1)    
         #TODO: Auto-dry procedure
-               
-        robot.move_cold() 
-        mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        
-        #TODO: Should do on finally?
-        update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)      
-        if mount_sample_detected == False:
-            raise Exception("No pin detected on gonio")
-
-        if is_force_dry():
-            print "Auto dry"
-            log("Starting auto dry", False)
-            dry()            
+        
+        if is_aux:
+            robot.move_home() 
+        else:
+            robot.move_cold() 
+            
+            mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        
+            #TODO: Should do on finally?
+            update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)      
+            if mount_sample_detected == False:
+                raise Exception("No pin detected on gonio")
+    
+            if is_force_dry():
+                print "Auto dry"
+                log("Starting auto dry", False)
+                dry()            
         return [mount_sample_detected, mount_sample_id]
     finally:
         smart_magnet.set_default_current()