devices/smart_magnet.properties

@@ -1,5 +1,5 @@
-#Wed Oct 03 14:07:43 CEST 2018
-holdingCurrent=50.0
+#Wed Oct 17 16:51:06 CEST 2018
+holdingCurrent=30.0
 mountCurrent=10.0
 remanenceCurrent=-10.0
 restingCurrent=10.0

plugins/Commands.java

@@ -116,6 +116,8 @@ public class Commands extends Panel {
     // <editor-fold defaultstate="collapsed" desc="Generated Code">//GEN-BEGIN:initComponents
     private void initComponents() {
 
+        jTabbedPane1 = new javax.swing.JTabbedPane();
+        tabCommands = new javax.swing.JPanel();
         pnDry = new javax.swing.JPanel();
         jLabel6 = new javax.swing.JLabel();
         spinnerDryTime = new ch.psi.utils.swing.HorizontalSpinner();
@@ -140,6 +142,10 @@ public class Commands extends Panel {
         buttonScanPin = new javax.swing.JButton();
         buttonScanPuck = new javax.swing.JButton();
         checkAuxiliary = new javax.swing.JCheckBox();
+        jPanel1 = new javax.swing.JPanel();
+        buttonGripperScan = new javax.swing.JButton();
+        buttonTrash = new javax.swing.JButton();
+        tabAdvanced = new javax.swing.JPanel();
         pnLowLevel = new javax.swing.JPanel();
         buttonMovePark = new javax.swing.JButton();
         buttonMoveCold = new javax.swing.JButton();
@@ -190,7 +196,7 @@ public class Commands extends Panel {
                 .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                     .addComponent(buttonDry, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)
                     .addComponent(ckeckParkOnDry))
-                .addGap(18, 18, Short.MAX_VALUE)
+                .addGap(18, 25, Short.MAX_VALUE)
                 .addGroup(pnDryLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.TRAILING)
                     .addComponent(jLabel6)
                     .addComponent(jLabel7))
@@ -373,6 +379,68 @@ public class Commands extends Panel {
                 .addContainerGap())
         );
 
+        jPanel1.setBorder(javax.swing.BorderFactory.createTitledBorder("Gripper"));
+
+        buttonGripperScan.setText("Scan");
+        buttonGripperScan.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonGripperScanActionPerformed(evt);
+            }
+        });
+
+        buttonTrash.setText("Trash");
+        buttonTrash.addActionListener(new java.awt.event.ActionListener() {
+            public void actionPerformed(java.awt.event.ActionEvent evt) {
+                buttonTrashActionPerformed(evt);
+            }
+        });
+
+        javax.swing.GroupLayout jPanel1Layout = new javax.swing.GroupLayout(jPanel1);
+        jPanel1.setLayout(jPanel1Layout);
+        jPanel1Layout.setHorizontalGroup(
+            jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel1Layout.createSequentialGroup()
+                .addContainerGap()
+                .addComponent(buttonGripperScan, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                .addComponent(buttonTrash, javax.swing.GroupLayout.PREFERRED_SIZE, 100, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addContainerGap())
+        );
+        jPanel1Layout.setVerticalGroup(
+            jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(jPanel1Layout.createSequentialGroup()
+                .addContainerGap()
+                .addGroup(jPanel1Layout.createParallelGroup(javax.swing.GroupLayout.Alignment.BASELINE)
+                    .addComponent(buttonGripperScan)
+                    .addComponent(buttonTrash))
+                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+        );
+
+        javax.swing.GroupLayout tabCommandsLayout = new javax.swing.GroupLayout(tabCommands);
+        tabCommands.setLayout(tabCommandsLayout);
+        tabCommandsLayout.setHorizontalGroup(
+            tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(tabCommandsLayout.createSequentialGroup()
+                .addGap(0, 0, 0)
+                .addGroup(tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(pnDry, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(pnTransfer, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(jPanel1, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)))
+        );
+        tabCommandsLayout.setVerticalGroup(
+            tabCommandsLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(tabCommandsLayout.createSequentialGroup()
+                .addContainerGap()
+                .addComponent(pnDry, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addGap(0, 0, 0)
+                .addComponent(pnTransfer, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED)
+                .addComponent(jPanel1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
+                .addContainerGap())
+        );
+
+        jTabbedPane1.addTab("Commands", tabCommands);
+
         pnLowLevel.setBorder(javax.swing.BorderFactory.createTitledBorder("Low-level Motion Commands"));
 
         buttonMovePark.setText("Move Park");
@@ -487,7 +555,7 @@ public class Commands extends Panel {
                     .addComponent(buttonGetGonio)
                     .addComponent(buttonGetDewar, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE)
                     .addComponent(buttonGetAux, javax.swing.GroupLayout.PREFERRED_SIZE, 114, javax.swing.GroupLayout.PREFERRED_SIZE))
-                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 54, Short.MAX_VALUE)
+                .addPreferredGap(javax.swing.LayoutStyle.ComponentPlacement.RELATED, 64, Short.MAX_VALUE)
                 .addGroup(pnLowLevelLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
                     .addComponent(buttonPutDewar, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE)
                     .addComponent(buttonPutGonio, javax.swing.GroupLayout.PREFERRED_SIZE, 101, javax.swing.GroupLayout.PREFERRED_SIZE)
@@ -615,29 +683,41 @@ public class Commands extends Panel {
                 .addContainerGap())
         );
 
-        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
-        this.setLayout(layout);
-        layout.setHorizontalGroup(
-            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-            .addComponent(pnDry, javax.swing.GroupLayout.PREFERRED_SIZE, 314, Short.MAX_VALUE)
-            .addComponent(pnMotion, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-            .addComponent(pnDatabase, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-            .addComponent(pnLowLevel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
-            .addComponent(pnTransfer, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+        javax.swing.GroupLayout tabAdvancedLayout = new javax.swing.GroupLayout(tabAdvanced);
+        tabAdvanced.setLayout(tabAdvancedLayout);
+        tabAdvancedLayout.setHorizontalGroup(
+            tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(tabAdvancedLayout.createSequentialGroup()
+                .addGap(0, 0, 0)
+                .addGroup(tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+                    .addComponent(pnMotion, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(pnDatabase, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE)
+                    .addComponent(pnLowLevel, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addGap(0, 0, 0))
         );
-        layout.setVerticalGroup(
-            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
-            .addGroup(layout.createSequentialGroup()
-                .addComponent(pnDry, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addGap(0, 0, 0)
-                .addComponent(pnTransfer, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addGap(0, 0, 0)
+        tabAdvancedLayout.setVerticalGroup(
+            tabAdvancedLayout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addGroup(tabAdvancedLayout.createSequentialGroup()
+                .addContainerGap()
                 .addComponent(pnLowLevel, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                 .addGap(0, 0, 0)
                 .addComponent(pnDatabase, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
                 .addGap(0, 0, 0)
                 .addComponent(pnMotion, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
-                .addContainerGap(javax.swing.GroupLayout.DEFAULT_SIZE, Short.MAX_VALUE))
+                .addContainerGap())
+        );
+
+        jTabbedPane1.addTab("Advanced", tabAdvanced);
+
+        javax.swing.GroupLayout layout = new javax.swing.GroupLayout(this);
+        this.setLayout(layout);
+        layout.setHorizontalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addComponent(jTabbedPane1, javax.swing.GroupLayout.Alignment.TRAILING)
+        );
+        layout.setVerticalGroup(
+            layout.createParallelGroup(javax.swing.GroupLayout.Alignment.LEADING)
+            .addComponent(jTabbedPane1, javax.swing.GroupLayout.PREFERRED_SIZE, javax.swing.GroupLayout.DEFAULT_SIZE, javax.swing.GroupLayout.PREFERRED_SIZE)
         );
     }// </editor-fold>//GEN-END:initComponents
 
@@ -770,6 +850,14 @@ public class Commands extends Panel {
         onStateChange(getState(), null);
     }//GEN-LAST:event_checkAuxiliaryActionPerformed
 
+    private void buttonGripperScanActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonGripperScanActionPerformed
+        execute("scan_gripper()");
+    }//GEN-LAST:event_buttonGripperScanActionPerformed
+
+    private void buttonTrashActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTrashActionPerformed
+        execute("trash()");
+    }//GEN-LAST:event_buttonTrashActionPerformed
+
     // Variables declaration - do not modify//GEN-BEGIN:variables
     private javax.swing.JButton buttonClearSampleDb;
     private javax.swing.JButton buttonDry;
@@ -777,6 +865,7 @@ public class Commands extends Panel {
     private javax.swing.JButton buttonGetAux;
     private javax.swing.JButton buttonGetDewar;
     private javax.swing.JButton buttonGetGonio;
+    private javax.swing.JButton buttonGripperScan;
     private javax.swing.JButton buttonMount;
     private javax.swing.JButton buttonMoveAux;
     private javax.swing.JButton buttonMoveCold;
@@ -793,6 +882,7 @@ public class Commands extends Panel {
     private javax.swing.JButton buttonResetPuckIds;
     private javax.swing.JButton buttonScanPin;
     private javax.swing.JButton buttonScanPuck;
+    private javax.swing.JButton buttonTrash;
     private javax.swing.JButton buttonUnmount;
     private javax.swing.JCheckBox checkAuxiliary;
     private javax.swing.JCheckBox checkDatamatrix;
@@ -805,7 +895,9 @@ public class Commands extends Panel {
     private javax.swing.JLabel jLabel5;
     private javax.swing.JLabel jLabel6;
     private javax.swing.JLabel jLabel7;
+    private javax.swing.JPanel jPanel1;
     private javax.swing.JPanel jPanel5;
+    private javax.swing.JTabbedPane jTabbedPane1;
     private javax.swing.JPanel pnDatabase;
     private javax.swing.JPanel pnDry;
     private javax.swing.JPanel pnLowLevel;
@@ -816,5 +908,7 @@ public class Commands extends Panel {
     private javax.swing.JSpinner spinnerPuck;
     private javax.swing.JSpinner spinnerSample;
     private javax.swing.JSpinner spinnerSegment;
+    private javax.swing.JPanel tabAdvanced;
+    private javax.swing.JPanel tabCommands;
     // End of variables declaration//GEN-END:variables
 }

script/devices/RobotSC.py

@@ -129,6 +129,18 @@ class RobotSC(RobotTCP):
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_aux()
 
+    def get_calibration_tool(self):
+        self.start_task('getCalTool')  
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)  
+        self.assert_scanner()    
+    
+    def put_calibration_tool(self):
+        self.start_task('putCalTool')  
+        self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
+        self.assert_scanner()        
+
+        
+
     def toSegmentNumber(self, segment):
         if is_string(segment):
             segment = ord(segment.upper()) - ord('A') +1

script/devices/Wago.py

@@ -136,16 +136,6 @@ def set_air_stream(state):
 set_heater_chrono = None
 
 def monitor_heater_time():
-    """
-    """
-    return valve_1.read()
-
-
-def get_heater():
-    """
-    """
-    return gripper_dryer.read()
-
     time.sleep(0.5)
     try:
         while get_heater():
@@ -157,6 +147,13 @@ def get_heater():
     except:
         print sys.exc_info()
 
+
+def get_heater():
+    """
+    """
+    return gripper_dryer.read()
+
+
 def set_heater(state):
     """
     """

script/local.py

@@ -99,6 +99,7 @@ run("motion/put_aux")
 run("motion/dry")
 run("motion/trash")
 run("motion/homing_hexiposi")
+run("motion/calibrate_tool")
 run("motion/scan_pin")
 run("motion/robot_recover")
 run("motion/recover")
@@ -200,9 +201,6 @@ except:
 
 
 #gripper_cam.paused = True
-
-
-
 ###################################################################################################
 #  Device monitoring
 ###################################################################################################
@@ -228,9 +226,17 @@ for l in dewar_level.listeners:
         
 dewar_level.addListener(dewar_level_listener)
 dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None)
-    
 
 
+
+
+class HexiposiListener (DeviceListener):
+    def onValueChanging(self, device, value, former):
+        robot.assert_cleared()
+        
+hexiposi_listener = HexiposiListener()
+hexiposi.addListener(hexiposi_listener)
+
 ###################################################################################################
 #  Global variables & application state
 ###################################################################################################

script/motion/calibrate_tool.py

@@ -12,7 +12,21 @@ def calibrate_tool():
 
     #Enabling
     enable_motion()
+
+    (detected, dm) = move_scanner()
+
+    if detected:
+        print "Pin detected, trashing..."
+        trash()
+        (detected, dm) = move_scanner()
+        if detected:
+            raise Exception("Cannot trash pin")
     
-    if not robot.is_gonio():
-        robot.move_gonio()
-    robot.put_gonio()    
+    robot.open_tool()  
+    robot.get_calibration_tool()
+    
+    run("calibration/ToolCalibration3")
+    
+    robot.put_calibration_tool()
+    
+    #robot.save_program()

script/motion/dry.py

@@ -1,6 +1,6 @@
 
 
-def dry(heat_time=30.0, speed=0.4, wait_cold = 30.0):    
+def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):    
     """
         heat_time (float): in seconds
         speed (float): % of nominal speed

script/motion/scan_pin.py

@@ -59,3 +59,32 @@ def scan_puck(segment, puck, force=False):
     for i in range(16):
         ret.append(scan_pin (segment, puck, i+1, force))
     return ret
+
+
+def scan_gripper():
+    print "scan gripper"
+    #Initial checks
+    
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    robot.assert_cleared()
+    #robot.assert_in_known_point()
+    
+    #Enabling
+    
+    set_status("Scanning gripper")
+    
+    enable_motion()    
+
+    (detected, dm) = move_scanner() 
+
+    robot.move_home()
+
+    ret = "Empty"
+    if detected:
+        if (dm is None) or (len(dm.strip())==0):
+            ret = "Present"
+        else:
+            ret = str(dm)
+    return ret

script/motion/tools.py

@@ -45,6 +45,7 @@ def set_hexiposi(pos, force = False):
     """
     Set the hexiposi position in remote mode, or wait for it to be set in manual mode
     """
+    robot.assert_cleared()
     if force == False:
         if hexiposi.position == pos:
             return 

script/motion/trash.py

@@ -15,12 +15,17 @@ def trash():
 
     robot.move_heater(to_bottom = False)    
     robot.move_heater(to_bottom = True)    
-    
-    for i in range(3):
+
+    try:
+        for i in range(3):
+            robot.open_tool()
+            time.sleep(0.5)
+            robot.close_tool()
+            time.sleep(0.5)
+    finally:
         robot.open_tool()
-        time.sleep(1.0)
-        robot.close_tool()
-            
+        
+                
     robot.move_heater(to_bottom =  False)    
     robot.move_home()