55 lines
973 B
Python
55 lines
973 B
Python
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def set_air_stream(state):
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"""
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"""
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valve_1.write(state)
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valve_2.write(not state)
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def set_heater(state):
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"""
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"""
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gripper_dryer.write(state)
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def get_air_stream():
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"""
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"""
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return valve_1.read()
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def get_heater():
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"""
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"""
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return gripper_dryer.read()
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def dry(heat_time, speed):
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"""
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heat_time (float): in seconds
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speed (float): % of nominal speed
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"""
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print "dry"
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#Initial checks
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robot.assert_no_task()
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robot.reset_motion()
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robot.wait_ready()
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robot.assert_cleared()
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#robot.assert_in_known_point()
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#Enabling
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enable_motion()
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try:
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set_heater(True)
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robot.move_heater(speed, False)
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time.sleep(heat_time)
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robot.move_heater(speed, True)
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set_air_stream(True)
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robot.move_heater(speed, False)
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finally:
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set_heater(False)
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set_air_stream(False)
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robot.move_dewar() |