script/devices/Hexiposi.py

@@ -4,15 +4,17 @@ import json
 
 class Hexiposi(DiscretePositionerBase):
     def __init__(self, name, url):         
-         DiscretePositionerBase.__init__(self, name, ["1","2","3","4","5","6"])
+         DiscretePositionerBase.__init__(self, name, ["A","B","C","D","E","F"])
          if not url.startswith("http://"):
              url = "http://" + url
          if not url.endswith("/"):
              url =  url + "/"
-         self.url = url        
-         self.setState(State.Ready)
-         self.val = self.doReadReadback()               
+         self.url = url           
 
+    def doInitialize(self):           
+        super(Hexiposi, self).doInitialize()
+        self.val = self.doReadReadback()   
+        
     def get_response(self, response):
         if (response.status_code!=200):
             raise Exception (response.text)
@@ -28,16 +30,15 @@ class Hexiposi(DiscretePositionerBase):
         self.pos = self.status["position"]
         self.moving = self.status["moving"]
         self.offset = self.status["offset"]        
-        self.dpos = self.status["discretePosition"]         
-        if self.dpos == 1: self.rback = 1
-        elif self.dpos == 2: self.rback = 2
-        elif self.dpos == 4: self.rback = 3
-        elif self.dpos == 8: self.rback = 4
-        elif self.dpos == 16: self.rback = 5
-        elif self.dpos == 32: self.rback = 6
-        else: self.rback = None
-        self.rbackstr = self.UNKNOWN_POSITION  if ((self.rback is None) or (self.homed==False)) else str(self.rback) 
-               
+        self.dpos = self.status["discretePosition"]    
+        if (self.homed==False): self.rback =  self.UNKNOWN_POSITION 
+        elif self.dpos == 1: self.rback = "A"
+        elif self.dpos == 2: self.rback = "B"
+        elif self.dpos == 4: self.rback = "C"
+        elif self.dpos == 8: self.rback = "D"
+        elif self.dpos == 16: self.rback = "E"
+        elif self.dpos == 32: self.rback = "F"
+        else: self.rback = self.UNKNOWN_POSITION 
         return self.status
 
     def move_pos(self, pos):
@@ -65,10 +66,12 @@ class Hexiposi(DiscretePositionerBase):
     
     def doReadReadback(self):
         self.get_status()
-        return self.rbackstr
+        return self.rback
 
     def doWrite(self, val):
-        val = int(val)
+        val = ord(val) - ord('A') +1
+        if val<1 or val>6:
+            raise Exception("Invalid value: " + str(val))
         moving = val != self.val 
         self.val = val
         self.move_pos(self.val)

script/devices/RobotMotors.py

@@ -21,7 +21,7 @@ class RobotCartesianMotor (PositionerBase):
 
     def doWrite(self, value):        
         if self.robot.cartesian_destination is not None:
-            print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value)
+            #print "Move " + ROBOT_MOTORS[self.index] + " to " + str(value)
             self.robot.cartesian_destination[self.index] = float(value)  
             self.robot.set_pnt(robot.cartesian_destination , "tcp_p")        
             self.robot.movel("tcp_p", self.robot.tool , DESC_SCAN)        
@@ -49,7 +49,7 @@ class RobotJointMotor (PositionerBase):
         return self.setpoint
 
     def doWrite(self, value):                
-        print "Move " + ROBOT_JOINT_MOTORS[self.index] + " to " + str(value)
+        #print "Move " + ROBOT_JOINT_MOTORS[self.index] + " to " + str(value)
         self.setpoint = value
         joint = self.robot.herej()
         joint[self.index] = value

script/devices/RobotSC.py

@@ -8,16 +8,21 @@ DESC_SCAN = "mScan"
 DESC_DEFAULT = DESC_FAST
 
 
+DEFAULT_ROBOT_POLLING = 500
+
+
 run("devices/RobotTCP")
 
 
-simulation = True
+simulation = False
+
 joint_forces = False
 
 
 class RobotSC(RobotTCP):    
     def __init__(self, name, server, timeout = 1000, retries = 1):
-        RobotTCP.__init__(self, name, server, timeout, retries)         
+        RobotTCP.__init__(self, name, server, timeout, retries)   
+        self.setPolling(DEFAULT_ROBOT_POLLING)      
         
     def mount(self, puck, sample):
         return self.execute('mount',segment, puck, sample)   
@@ -66,13 +71,6 @@ if simulation:
 else:
     add_device(RobotSC("robot", "129.129.110.100:1000"), force = True) 
 
-robot.high_level_tasks = ["mount", "firstmount"]
-robot.set_tool(TOOL_CALIBRATION)
-robot.setPolling(500)
-
-robot.set_motors_enabled(True)
-robot.set_joint_motors_enabled(True)
-
 #robot.set_monitor_speed(20)
 
 

script/devices/RobotTCP.py

@@ -368,7 +368,7 @@ class RobotTCP(TcpDevice, Stoppable):
     def distance_p(self, pnt1, pnt2):    
         return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")   
 
-    def compose(self, pnt, frame, trsf):    
+    def compose(self, pnt, frame = FRAME_DEFAULT, trsf = "tcp_t"):    
         return self.eval_pnt("compose(" + pnt + ", " + frame + ", " + trsf + ")")
 
     def here(self, tool, frame):