42 lines
1.1 KiB
Python
42 lines
1.1 KiB
Python
def mount(segment, puck, sample, force=False):
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"""
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"""
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print "mount: ", segment, puck, sample, force
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start = time.time()
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#Initial checks
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assertValidAddress(segment, puck, sample)
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robot.assert_no_task()
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robot.reset_motion()
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robot.state.assertReady()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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hexiposi.assert_homed()
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if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
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raise Exception("Pin detected on gonio")
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#location = robot.get_current_point()
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#Enabling
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enable_motion()
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set_hexiposi(segment)
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if not force:
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visual_check_hexiposi(segment)
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if not robot.is_dewar():
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robot.move_dewar()
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robot.get_dewar(segment, puck, sample)
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robot.move_gonio()
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smart_magnet.set_mount_current()
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try:
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robot.put_gonio()
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robot.move_dewar()
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if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
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raise Exception("No pin detected on gonio")
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finally:
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smart_magnet.set_default_current()
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