script/motion/dry.py

@@ -0,0 +1,55 @@
+
+def set_air_stream(state):
+    """
+    """
+    valve_1.write(state)
+    valve_2.write(not state)
+
+
+def set_heater(state):
+    """
+    """
+    gripper_dryer.write(state)
+
+
+def get_air_stream():
+    """
+    """
+    return valve_1.read()
+
+
+def get_heater():
+    """
+    """
+    return gripper_dryer.read()
+
+
+
+def dry(heat_time, speed):    
+    """
+        heat_time (float): in seconds
+        speed (float): % of nominal speed
+    """
+    print "dry"
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()    
+
+    try:
+        set_heater(True)
+        robot.move_heater(speed, False)    
+        time.sleep(heat_time)
+        robot.move_heater(speed, True)    
+        set_air_stream(True)        
+        robot.move_heater(speed, False)    
+    finally:
+        set_heater(False)
+        set_air_stream(False)
+
+    robot.move_dewar()  

script/motion/mount.py

@@ -2,7 +2,7 @@ def mount(segment, puck, sample, force=False):
     """
     """
     print "mount: ", segment, puck, sample, force
-    
+    start = time.time()
     #Initial checks
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()

script/motion/move_dewar.py

@@ -0,0 +1,18 @@
+def move_dewar():
+    """
+    """
+    print "move_dewar"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_dewar():
+        robot.move_dewar()  

script/motion/move_gonio.py

@@ -0,0 +1,18 @@
+def move_gonio():
+    """
+    """
+    print "move_gonio"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_gonio():
+        robot.move_gonio()

script/motion/move_heater.py

@@ -0,0 +1,18 @@
+def move_heater():
+    """
+    """
+    print "move_heater"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_heater():
+        robot.move_heater()

script/motion/move_home.py

@@ -0,0 +1,18 @@
+def move_home():
+    """
+    """
+    print "move_home"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_home():
+        robot.move_home()

script/motion/move_park.py

@@ -0,0 +1,18 @@
+def move_park():
+    """
+    """
+    print "move_park"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_park():
+        robot.move_park()  

script/motion/move_scanner.py

@@ -0,0 +1,18 @@
+def move_scanner():
+    """
+    """
+    print "move_scanner"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.state.assertReady()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_scanner():
+        robot.move_scanner()