script/motion/calibrate_tool.py

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

script/motion/mount.py

@@ -9,7 +9,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
 
     start = time.time()
 
-    is_aux = segment == AUX_SEGMENT
+    is_aux = (segment == AUX_SEGMENT)
     puck_address = get_puck_address(puck)
     if puck_address is None:
         puck_obj = get_puck_obj_by_id(puck)
@@ -46,8 +46,7 @@ def mount(segment, puck, sample, force=False, read_dm=False):
                 robot.move_aux()      
                 
             robot.get_aux(sample)
-            robot.move_home()
-        
+                    
         else:
             set_hexiposi(segment)
             

script/motion/recover.py

@@ -6,15 +6,15 @@ RECOVER_DESC = "mRecovery"
 RECOVER_TOOL = TOOL_DEFAULT
 
 known_segments = [ ("pHome",         "pPark",         50), \
-                   ("pHome",         "pGonioH",       30), \
+                   ("pHome",         "pGonio",       30), \
                    ("pHome",         "pScan",         25), \
                    ("pHome",         "pHeater",       75), \
                    ("pHome",         "pDewar",        10), \
                    ("pHome",         "pHelium",      230), \
-                   ("pGonioH",       "pGonioG",       10), \
+                   ("pGonio",        "pGonioG",       10), \
                    ("pPark",         "pHeat",         40), \
                    ("pHeater",       "pHeatB",        10), \
-                   ("pPark",         "pAux",          30), \
+                   ("pPark",         "pAux",          50), \
                  ]
 
 def get_dist_to_line(segment):

script/motion/scan_pin.py

@@ -5,6 +5,7 @@ def scan_pin(segment, puck, sample, force=False):
     #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
+    is_aux = (segment == AUX_SEGMENT)
     
     robot.assert_no_task()
     robot.reset_motion()
@@ -17,20 +18,31 @@ def scan_pin(segment, puck, sample, force=False):
     set_status("Scanning pin: " + str(pin_name))
     
     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)               
+    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)
+        
     (detected, dm) = move_scanner() 
     update_samples_info_sample_scan(get_puck_name(segment, puck), sample, detected, dm)      
-    
-    robot.move_dewar()        
-    robot.put_dewar(segment, puck, sample)
+
+    if is_aux:
+        robot.move_aux()   
+        robot.put_aux( sample)
+    else:
+        robot.move_dewar()        
+        robot.put_dewar(segment, puck, sample)
     ret = "Empty"
     if detected:
         if (dm is None) or (len(dm.strip())==0):
@@ -41,6 +53,8 @@ def scan_pin(segment, puck, sample, force=False):
 
     
 def scan_puck(segment, puck, force=False):
+    if segment == AUX_SEGMENT:
+        raise Exception("Cannot scan auxiliary puck")
     ret = []
     for i in range(16):
         ret.append(scan_pin (segment, puck, i+1, force))

script/motion/trash.py

@@ -0,0 +1,27 @@
+def trash():
+    """
+    """
+    print "trash"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+    robot.move_heater(to_bottom = False)    
+    robot.move_heater(to_bottom = True)    
+    
+    for i in range(3):
+        robot.open_tool()
+        time.sleep(1.0)
+        robot.close_tool()
+            
+    robot.move_heater(to_bottom =  False)    
+    robot.move_home()
+
+    

script/motion/unmount.py

@@ -9,7 +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
+    is_aux = (segment == AUX_SEGMENT)
     
     #Initial checks
     assert_valid_address(segment, puck, sample)
@@ -49,10 +49,8 @@ def unmount(segment = None, puck = None, sample = None, force=False):
         robot.get_gonio()
 
         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)