53 lines
1.4 KiB
Python
53 lines
1.4 KiB
Python
def mount(segment, puck, sample, force=False, read_dm=False):
|
|
"""
|
|
"""
|
|
print "mount: ", segment, puck, sample, force
|
|
start = time.time()
|
|
#Initial checks
|
|
assertValidAddress(segment, puck, sample)
|
|
assert_puck_detected(segment, puck)
|
|
|
|
robot.assert_no_task()
|
|
robot.reset_motion()
|
|
robot.wait_ready()
|
|
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)
|
|
|
|
if read_dm:
|
|
barcode_reader.start_read(10.0)
|
|
robot.move_scanner()
|
|
|
|
robot.move_gonio()
|
|
|
|
if read_dm:
|
|
dm = barcode_reader.get_readout()
|
|
print "Datamatrix: " , dm
|
|
|
|
smart_magnet.set_mount_current()
|
|
try:
|
|
robot.put_gonio()
|
|
robot.move_dewar()
|
|
if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
|
|
raise Exception("No pin detected on gonio")
|
|
finally:
|
|
smart_magnet.set_default_current()
|