script/motion/dry.py

@@ -1,9 +1,11 @@
 
 
-def dry(heat_time, speed):    
+def dry(heat_time=30.0, speed=0.5, wait_cold = 30.0):    
     """
         heat_time (float): in seconds
         speed (float): % of nominal speed
+        wait_cold(float): if negative, move to dewar after drying
+                          Else move to cold and wait (in seconds) before returning.
     """
     print "dry"
     #Initial checks
@@ -27,4 +29,8 @@ def dry(heat_time, speed):
         set_heater(False)
         set_air_stream(False)
 
-    robot.move_dewar()  
+    if wait_cold >=0 :
+        robot.move_cold()  
+        time.sleep(wait_cold)
+    else:
+        robot.move_dewar()

script/motion/mount.py

@@ -26,42 +26,44 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
-
-    if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
-        raise Exception("Pin detected on gonio")
     
-    #location = robot.get_current_point()
-
-    #Enabling
-    enable_motion()
-    
-    set_hexiposi(segment)
-    
-    if not force:        
-        visual_check_hexiposi(segment)           
-
-    if not robot.is_dewar():
-        robot.move_dewar()      
-            
-    robot.get_dewar(segment, puck, sample)
-    
-    set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
-
-    if read_dm:
-        barcode_reader.start_read(10.0)
-        robot.move_scanner()     
-        time.sleep(1.0)           
-        
-    robot.move_gonio()    
-    
-    if read_dm:
-        mount_sample_id = barcode_reader.get_readout()
-        print "Datamatrix: " , mount_sample_id
-    else:
-        mount_sample_id = None
-
-    smart_magnet.set_mount_current()
     try:
+        smart_magnet.enforce_sample_detection()                       
+        if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
+            raise Exception("Pin detected on gonio")
+        
+        #location = robot.get_current_point()
+    
+        #Enabling
+        enable_motion()
+        
+        set_hexiposi(segment)
+        
+        if not force:        
+            visual_check_hexiposi(segment)           
+    
+        if not robot.is_dewar():
+            robot.move_dewar()      
+                
+        robot.get_dewar(segment, puck, sample)
+        
+        set_setting("mounted_sample_position", get_sample_name(segment, puck, sample))
+    
+        if read_dm:
+            barcode_reader.start_read(10.0)
+            robot.move_scanner()     
+            time.sleep(1.0)           
+            
+        robot.move_gonio()    
+        
+        if read_dm:
+            mount_sample_id = barcode_reader.get_readout()
+            print "Datamatrix: " , mount_sample_id
+        else:
+            mount_sample_id = None
+    
+        smart_magnet.set_mount_current()
+
         robot.put_gonio()        
         robot.move_dewar() 
         mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)        

script/motion/scan_pin.py

@@ -0,0 +1,48 @@
+segment, puck, sample, force = "B",1,1, True
+pin_name = get_sample_name(segment, puck, sample)
+
+
+print "scan pin", pin_name
+#Initial checks
+robot.assert_no_task()
+robot.reset_motion()
+robot.wait_ready()
+robot.assert_cleared()
+#robot.assert_in_known_point()
+
+#Enabling
+
+
+enable_motion()    
+set_hexiposi(segment)
+if not force:        
+    visual_check_hexiposi(segment)           
+
+
+robot.move_park()
+
+gripper_cam.update()
+background_img = gripper_cam.getImage()
+
+
+if not robot.is_dewar():
+    robot.move_dewar()      
+        
+robot.get_dewar(segment, puck, sample)
+
+robot.move_park()
+gripper_cam.update()
+sample_img = gripper_cam.getImage()
+
+barcode_reader.start_read(10.0)
+robot.move_scanner()     
+time.sleep(1.0)           
+
+mount_sample_id = barcode_reader.get_readout()
+print "Datamatrix: " , mount_sample_id
+
+robot.move_dewar()        
+robot.put_dewar(segment, puck, sample)
+
+
+        

script/motion/unmount.py

@@ -13,7 +13,7 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #Initial checks
     assert_valid_address(segment, puck, sample)
     assert_puck_detected(segment, puck)
-    
+   
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()
@@ -21,25 +21,27 @@ def unmount(segment = None, puck = None, sample = None, force=False):
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
 
-    if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
-        raise Exception("No pin detected on gonio")
-    
-
-    #Enabling
-    enable_motion()
-
-    set_hexiposi(segment)
-
-    if not force:        
-        visual_check_hexiposi(segment)
-
-    #location = robot.get_current_point()
-
-    if not robot.is_gonio():
-        robot.move_gonio()
-            
-    smart_magnet.set_unmount_current()
     try:
+        smart_magnet.enforce_sample_detection()               
+        if smart_magnet.check_mounted(idle_time=0.5, timeout = 3.0) == False:
+            raise Exception("No pin detected on gonio")
+        
+    
+        #Enabling
+        enable_motion()
+    
+        set_hexiposi(segment)
+    
+        if not force:        
+            visual_check_hexiposi(segment)
+    
+        #location = robot.get_current_point()
+    
+        if not robot.is_gonio():
+            robot.move_gonio()
+                
+        smart_magnet.set_unmount_current()
+        
         robot.get_gonio()
         #TODO: Shuld check if smart magnet detection is off?
         update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)