gac-s_changer
34 lines
695 B
Python
34 lines
695 B
Python
|
|
|
|
def get_rt(segment, puck, sample):
|
|
"""
|
|
"""
|
|
print "get_rt: ", segment, puck, sample
|
|
|
|
#Initial checks
|
|
assert_valid_address(segment, puck, sample)
|
|
assert_puck_detected(segment, puck)
|
|
|
|
robot.assert_no_task()
|
|
robot.reset_motion()
|
|
robot.wait_ready()
|
|
robot.assert_cleared()
|
|
#robot.assert_in_known_point()
|
|
hexiposi.assert_homed()
|
|
#location = robot.get_current_point()
|
|
|
|
|
|
#Enabling
|
|
enable_motion()
|
|
|
|
|
|
if not robot.is_home():
|
|
robot.move_home()
|
|
set_hexiposi(segment)
|
|
robot.open_lid(segment)
|
|
|
|
robot.get_rt(segment, puck, sample)
|
|
robot.close_lid(segment)
|
|
|
|
|