pshell_config/mxsc
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gac-S_Changer
2018-09-17 16:56:55 +02:00
parent 531c3f5dfe
commit bc21bb95a3
21 changed files with 486 additions and 114 deletions
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15
script/devices/RobotSC.py
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@@ -22,8 +22,8 @@ joint_forces = False
class RobotSC(RobotTCP):
def __init__(self, name, server, timeout = 1000, retries = 1):
RobotTCP.__init__(self, name, server, timeout, retries)
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome"])
self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "moveCold", "movePark", "moveGonio","moveHeater", "moveScanner","moveHome"])
self.set_known_points(["pPark", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome", "pHeater", "pHeaterBottom", "pScanStop","pHelium", "pHome", "pCold"])
self.setPolling(DEFAULT_ROBOT_POLLING)
def move_dewar(self):
@@ -31,6 +31,11 @@ class RobotSC(RobotTCP):
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_dewar()
def move_cold(self):
self.start_task('moveCold')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
self.assert_cold()
def move_home(self):
self.start_task('moveHome')
self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)
@@ -141,6 +146,9 @@ class RobotSC(RobotTCP):
def is_park(self):
return self.is_in_point("pPark")
def is_cold(self):
return self.is_in_point("pCold")
def is_home(self):
return self.is_in_point("pHome")
@@ -175,6 +183,9 @@ class RobotSC(RobotTCP):
def assert_heater_home(self):
self.assert_in_point("pHeaterHome")
def assert_cold(self):
self.assert_in_point("pCold")
def assert_heater(self):
self.assert_in_point("pHeater")

2
script/devices/Wago.py
View File

@@ -125,7 +125,7 @@ def release_psys():
# Drier
###################################################################################################
MAX_HEATER_TIME = 15000
MAX_HEATER_TIME = 45000
def set_air_stream(state):