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()