48 lines
892 B
Python
48 lines
892 B
Python
segment, puck, sample, force = "B",1,1, True
|
|
pin_name = get_sample_name(segment, puck, sample)
|
|
|
|
|
|
print "scan pin", pin_name
|
|
#Initial checks
|
|
robot.assert_no_task()
|
|
robot.reset_motion()
|
|
robot.wait_ready()
|
|
robot.assert_cleared()
|
|
#robot.assert_in_known_point()
|
|
|
|
#Enabling
|
|
|
|
|
|
enable_motion()
|
|
set_hexiposi(segment)
|
|
if not force:
|
|
visual_check_hexiposi(segment)
|
|
|
|
|
|
robot.move_park()
|
|
|
|
gripper_cam.update()
|
|
background_img = gripper_cam.getImage()
|
|
|
|
|
|
if not robot.is_dewar():
|
|
robot.move_dewar()
|
|
|
|
robot.get_dewar(segment, puck, sample)
|
|
|
|
robot.move_park()
|
|
gripper_cam.update()
|
|
sample_img = gripper_cam.getImage()
|
|
|
|
barcode_reader.start_read(10.0)
|
|
robot.move_scanner()
|
|
time.sleep(1.0)
|
|
|
|
mount_sample_id = barcode_reader.get_readout()
|
|
print "Datamatrix: " , mount_sample_id
|
|
|
|
robot.move_dewar()
|
|
robot.put_dewar(segment, puck, sample)
|
|
|
|
|
|
|