99 lines
3.0 KiB
Python
99 lines
3.0 KiB
Python
POSITION_TOLERANCE = 50
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def enable_motion():
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"""
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Check safety and enable arm power if in remote mode
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"""
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if robot.working_mode != "manual":
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release_psys()
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time.sleep(0.1)
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if feedback_psys_safety.read() == False:
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raise Exception("Cannot enable power: check doors")
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release_local()
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if feedback_local_safety.read() == False:
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raise Exception("Cannot enable power: check sample changer emergency stop button")
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if robot.working_mode == "manual":
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pass
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else:
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time.sleep(0.25)
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if not robot.state.isNormal():
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raise Exception("Cannot enable power: robot state is " + str(robot.state))
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robot.enable()
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def set_hexiposi(pos):
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"""
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Set the hexiposi posiiton in remote mode, or wait for it to be set in manual mode
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"""
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if robot.working_mode == "manual":
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set_status("Move Hexiposi to position " + str(pos) + " ...")
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try:
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hexiposi.waitInPosition(pos, -1)
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finally:
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set_status(None)
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else:
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hexiposi.move(pos)
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def wait_end_of_move():
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robot.update()
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while (not robot.settled) or (not robot.empty) or (not robot.isReady()) :
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time.sleep(0.01)
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def move_home():
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#robot.reset_motion("jHome")
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robot.movej("pHome", robot.tool , DESC_SCAN)
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wait_end_of_move()
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def move_to_laser():
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robot.reset_motion()
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tool = robot.tool
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d = robot.get_distance_to_pnt("pLaser")
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if d<0:
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raise Exception ("Error calculating distance to laser: " + str(d))
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if d<POSITION_TOLERANCE:
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print "FROM LASER"
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robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
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return
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d = robot.get_distance_to_pnt("pLaserHome")
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if d<0:
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raise Exception ("Error calculating distance to laser appro: " + str(d))
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if d<POSITION_TOLERANCE:
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print "FROM APPRO"
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robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
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return
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d = robot.get_distance_to_pnt("pHome")
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if d<0:
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raise Exception ("Error calculating distance to home: " + str(d))
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if d<POSITION_TOLERANCE:
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print "FROM HOME"
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robot.movej("pLaserHome", robot.tool, DESC_DEFAULT)
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robot.movel("pLaser", robot.tool, DESC_SCAN, sync = True)
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return
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raise Exception ("Must be in home position to start move to laser")
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def update_tool(tool=None, x_offset=0.0, y_offset=0.0, z_offset=0.0):
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#Updating tool:
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t=robot.get_tool_trsf(tool)
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t[0]=t[0] - x_offset
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t[1]=t[1] - y_offset
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t[2]=t[2] - z_offset
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robot.set_tool_trsf(t, tool)
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print "Updated " + (str(robot.tool) if (tool is None) else tool) + ": " + str(t)
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robot.save_program()
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def assertValidAddress(segment, puck, sample):
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if type(segment) == str:
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segment = ord(segment.upper()) - ord('A') +1
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if segment<=0 or segment >6:
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raise Excepton ("Invalid segment")
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if puck<=0 or puck >5:
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raise Excepton ("Invalid puck")
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if sample<=0 or sample >16:
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raise Excepton ("Invalid sample")
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