trash sample improvement

config/settings.properties

@@ -1,11 +1,11 @@
-#Wed May 05 09:44:20 CEST 2021
+#Thu May 27 18:01:34 CEST 2021
 dry_mount_counter=0
-mounted_sample_position=F21
+mounted_sample_position=X18
 room_temperature_enabled=false
 pin_offset=-0.0
 puck_types=true
 imaging_enabled=false
-dry_timestamp=1.620127409487E9
+dry_timestamp=1.621263350745E9
 roi_h=1000
 led_level=0.0
 beamline_status_enabled=false

devices/led_ctrl_1.properties

@@ -1,8 +1,8 @@
-#Tue Apr 13 11:01:31 CEST 2021
+#Wed May 19 08:00:41 CEST 2021
 minValue=0.0
 unit=V
 offset=0.0
-maxValue=1.0
+maxValue=0.4
 precision=2
 sign_bit=0
 scale=3.0E-4

devices/led_ctrl_2.properties

@@ -1,8 +1,8 @@
-#Tue Apr 13 11:01:31 CEST 2021
+#Wed May 19 08:00:41 CEST 2021
 minValue=0.0
 unit=V
 offset=0.0
-maxValue=1.0
+maxValue=0.4
 precision=2
 sign_bit=0
 scale=3.0E-4

devices/led_ctrl_3.properties

@@ -1,8 +1,8 @@
-#Tue Apr 13 11:01:31 CEST 2021
+#Wed May 19 08:00:41 CEST 2021
 minValue=0.0
 unit=V
 offset=0.0
-maxValue=1.0
+maxValue=0.4
 precision=2
 sign_bit=0
 scale=3.0E-4

script/devices/RobotSC.py

@@ -10,7 +10,8 @@ DESC_SCAN = "mScan"
 DESC_DEFAULT = DESC_FAST
 
 AUX_SEGMENT = "X"
-
+RT_SEGMENT = "R"
+COLD_SEGMENTS = "ABCDEF"
 
 DEFAULT_ROBOT_POLLING = 500
 TASK_WAIT_ROBOT_POLLING = 50

script/motion/mount.py

@@ -7,13 +7,25 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     global mount_sample_id, mount_sample_detected
     print "mount: ", segment, puck, sample, force
 
-    start = time.time()    
-    #time.sleep(2)
+    start = time.time()
     is_aux = (segment == AUX_SEGMENT)
+    is_rt = (segment == RT_SEGMENT)
+    is_normal = not (is_aux or is_rt)
 
-    #ZACH
-    needs_chilling = not is_aux and (not robot.is_cold())
-    needs_drying = is_aux and robot.is_cold()
+
+    previous_mounted = get_setting("mounted_sample_position")
+    if previous_mounted is not None:
+        previous_segment, previous_puck, previous_sample = previous_mounted[0], int(previous_mounted[1]), int(previous_mounted[2:])
+    else:
+        previous_segment, previous_puck, previous_sample = "-", 0, 0
+
+    # ZAC
+    was_cold = robot.is_cold()
+    was_warm = not was_cold
+    needs_chilling = not is_rt and was_warm
+    needs_drying = is_rt and was_cold
+    count_mount = is_normal or (is_aux and was_cold)
+    zero_counts = (is_aux and not was_cold) or (is_rt and was_cold)
     
     puck_address = get_puck_address(puck)
     if puck_address is None:
@@ -44,30 +56,34 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
     hexiposi.assert_homed()    
     assert_mount_position()
     do_unmount = False    
-    
-    try:
-        #ZACH
-        if needs_chilling:
-            robot.move_cold()
-            time.sleep(30.0)
 
-        if smart_magnet.get_supress() == True:
-            smart_magnet.set_supress(False)
-            time.sleep(0.2)        
-        #To better dectect sample
-        #smart_magnet.apply_reverse()
-        #smart_magnet.apply_resting()
-        #time.sleep(0.5)
-                
-        sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
-        Controller.getInstance().logEvent("Sample Detection", str(sample_det))       
-        if  sample_det == True:
+    # detect sample before moving to cold
+    if smart_magnet.get_supress() == True:
+        smart_magnet.set_supress(False)
+        time.sleep(0.2)
+    sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
+    Controller.getInstance().logEvent("Sample Detection", str(sample_det))
+
+    try:
+        if sample_det == True:
+            if was_warm and previous_segment in COLD_SEGMENTS:
+                print "was warm previous %s %s $s" % (previous_segment, COLD_SEGMENTS, previous_mounted)
+                robot.move_cold()
+                time.sleep(30.0)
+
             if auto_unmount and (get_setting("mounted_sample_position") is not None):
                 #auto_unmount set to true so detection remains enabled
-                sample_det = unmount(force = True, auto_unmount = True)
+                sample_det = unmount(force = True, auto_unmount = True, next_segment=segment)
                 do_unmount = True
         if sample_det == True:
             raise Exception("Pin detected on gonio")            
+
+        
+        if is_normal and not robot.is_cold():
+            print "mount():83 needs_chilling"
+            robot.move_cold()
+            time.sleep(30.0)
+            
         set_status("Mounting: " + str(segment) + str(puck) + str(sample))    
         Controller.getInstance().logEvent("Mount Sample", str(segment) + str(puck) + str(sample))
         #location = robot.get_current_point()
@@ -76,26 +92,26 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
         if not do_unmount:
             enable_motion()
 
-        #ZACH
+        # ZAC
         # a room temp pin is being mounted but the gripper is cold
         if needs_drying:
             dry(wait_cold=-1) # move to park after dry
 
         if is_aux:
             if not robot.is_aux():
-                robot.move_aux()      
-                
+                robot.move_aux()
             robot.get_aux(sample)
-                    
+        
+        elif is_rt: 
+            # TODO: implement room temperature for X06SA
+            pass                    
+
         else:
-            set_hexiposi(segment)
-            
-            if not force:        
-                visual_check_hexiposi(segment)           
-    
+            set_hexiposi(segment)            
+            if not force:
+                visual_check_hexiposi(segment)
             if not robot.is_dewar():
-                robot.move_dewar()      
-                
+                robot.move_dewar()
             robot.get_dewar(segment, puck, sample)
 
             
@@ -115,18 +131,32 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
 
         robot.put_gonio() 
 
-        
-        try:
-            dry_mount_count = int(get_setting("dry_mount_counter"))
-        except:
-            dry_mount_count = 0    
-        set_setting("dry_mount_counter", dry_mount_count+1)    
-                
-        if is_aux:
-            robot.move_home() 
-        else:
+        if count_mount:
+            try:
+                dry_mount_count = int(get_setting("dry_mount_counter"))
+            except:
+                dry_mount_count = 0
+            finally:
+                set_setting("dry_mount_counter", dry_mount_count+1)    
+
+        elif zero_counts:
+            set_setting("dry_mount_counter", 0)
+
+        if is_rt:
+            print "mount/moving park in RT"
+            robot.move_park() 
+        elif is_normal:
+            print "mount/moving cold in cold"
             robot.move_cold() 
-            
+        elif is_aux:
+            if was_cold:
+                print "mount/moving park in AUX"
+                robot.move_cold()
+            else:
+                robot.move_park()
+        else:
+            robot.move_cold()
+
         mount_sample_detected = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) 
         Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))       
         update_samples_info_sample_mount(get_puck_name(segment, puck), sample, mount_sample_detected, mount_sample_id)      

script/motion/trash.py

@@ -14,9 +14,13 @@ def trash():
     robot.assert_cleared()
     #robot.assert_in_known_point()
 
+    was_cold = robot.is_cold()
+
     #Enabling
     enable_motion()
 
+    robot.move_gonio()
+    robot.get_gonio()
     robot.move_heater(to_bottom = False)    
     robot.move_heater(to_bottom = True)    
 
@@ -31,6 +35,9 @@ def trash():
         
                 
     robot.move_heater(to_bottom =  False)    
-    robot.move_cold()
+    if was_cold:
+        robot.move_cold()
+    else:
+        robot.move_home()
 
     

script/motion/unmount.py

@@ -1,4 +1,4 @@
-def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False):
+def unmount(segment = None, puck = None, sample = None, force=False, auto_unmount = False, next_segment="-*-"):
     """
     """
     print "unmount: ", segment, puck, sample, force, auto_unmount   
@@ -10,10 +10,17 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
         segment, puck , sample = pos[0:1], int(pos[1]), int(pos[2:])
         print "Mounted sample position: ", segment, puck , sample
 
-    #ZACH: these need to happen after defining segment, puck, sample
+    # ZAC: these need to happen after defining segment, puck, sample
     is_aux = (segment == AUX_SEGMENT)
-    needs_chilling = not is_aux and (not robot.is_cold())
-    needs_drying = is_aux and robot.is_cold()
+    is_rt = (segment == RT_SEGMENT)
+    is_normal = not (is_aux or is_rt)
+
+    was_cold = robot.is_cold()
+    was_warm = not was_cold
+    needs_chilling = not is_rt and was_warm
+    needs_drying = is_rt and was_cold
+    move_cold_at_end = str(next_segment) in COLD_SEGMENTS
+        
 
     #Initial checks
     if not auto_unmount:    
@@ -68,6 +75,7 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
             if not force:        
                 visual_check_hexiposi(segment)
             if needs_chilling:
+                print "umount():78 chilling"
                 robot.move_cold()
                 time.sleep(30.)
         else:
@@ -88,13 +96,16 @@ def unmount(segment = None, puck = None, sample = None, force=False, auto_unmoun
         Controller.getInstance().logEvent("Sample Detection", str(mount_sample_detected))       
 
         if is_aux:
-            robot.move_aux()   
-            robot.put_aux( sample)
+            robot.move_aux()
+            robot.put_aux(sample)
+        elif is_rt:
+            pass # TODO: implement RT at x06sa
         else:
-            #TODO: Should check if smart magnet detection is off?
-            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)      
-            robot.move_dewar()        
+            print "unmount():100 move_dewar & put_dewar"
+            update_samples_info_sample_unmount(get_puck_name(segment, puck), sample)
+            robot.move_dewar()
             robot.put_dewar(segment, puck, sample)
+
         set_setting("mounted_sample_position", None)
         return mount_sample_detected
     finally: