pshell_config/mxsc
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Browse Source
This commit is contained in:
gac-S_Changer
2018-09-21 16:51:33 +02:00
parent 7deba9eee4
commit ea1b2bad2a
8 changed files with 131 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

70
script/motion/mount.py
View File

@@ -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)