29 lines
642 B
Python
29 lines
642 B
Python
def put_dewar(segment, puck, sample, force=False):
|
|
"""
|
|
"""
|
|
print "put_dewar: ", segment, puck, sample, force
|
|
|
|
#Initial checks
|
|
assertValidAddress(segment, puck, sample)
|
|
robot.assert_no_task()
|
|
robot.reset_motion()
|
|
robot.state.assertReady()
|
|
robot.assert_cleared()
|
|
#robot.assert_in_known_point()
|
|
hexiposi.assert_homed()
|
|
|
|
#Enabling
|
|
enable_motion()
|
|
|
|
set_hexiposi(segment)
|
|
|
|
if not force:
|
|
visual_check_hexiposi(segment)
|
|
|
|
#location = robot.get_current_point()
|
|
|
|
if not robot.is_dewar():
|
|
robot.move_dewar()
|
|
|
|
robot.put_dewar(segment, puck, sample)
|