script/motion/unmount.py

@@ -9,6 +9,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
             raise Exception("Mounted sample position is not defined")
         segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2])
         print "Mounted sample position: ", segment, puck , sample
+    is_aux = segment == AUX_SEGMENT
     
     #Initial checks
     assert_valid_address(segment, puck, sample)
@@ -31,11 +32,12 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     
         #Enabling
         enable_motion()
+
+        if not is_aux:
+            set_hexiposi(segment)
     
-        set_hexiposi(segment)
-    
-        if not force:        
-            visual_check_hexiposi(segment)
+            if not force:        
+                visual_check_hexiposi(segment)
     
         #location = robot.get_current_point()
     
@@ -45,10 +47,17 @@ def unmount(segment = None, puck = None, sample = None, force=False):
         smart_magnet.set_unmount_current()
         
         robot.get_gonio()
-        #TODO: Shuld check if smart magnet detection is off?
-        update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)      
-        robot.move_dewar()        
-        robot.put_dewar(segment, puck, sample)
+
+        if is_aux:
+            robot.move_dewar()        
+            robot.move_aux()   
+            robot.put_aux( sample)
+            robot.move_home()        
+        else:
+            #TODO: Shuld check if smart magnet detection is off?
+            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)      
+            robot.move_dewar()        
+            robot.put_dewar(segment, puck, sample)
         set_setting("mounted_sample_position", None)
     finally:
         smart_magnet.set_default_current()