34 lines
1004 B
Python
34 lines
1004 B
Python
def check_gripper(sample):
|
|
print "tool open: " + str(robot.is_tool_open())
|
|
print "gripper: " + str(robot.gripper_has_sample())
|
|
print "di gripper has sample: " + str(robot.eval_bool("diToolHasSample"))
|
|
print "di gripper open: " + str(robot.eval_bool("diToolOpen"))
|
|
|
|
def fetch_check_gripper(sample):
|
|
if not robot.is_aux():
|
|
robot.move_aux()
|
|
robot.get_aux(sample)
|
|
print "tool open: " + str(robot.is_tool_open())
|
|
print "gripper: " + str(robot.gripper_has_sample())
|
|
print "di has sample: " + str(robot.eval_bool("diToolHasSample"))
|
|
print "di tool open: " + str(robot.eval_bool("diToolOpen"))
|
|
|
|
def swap_samples(a, b, empty):
|
|
robot.get_aux(a)
|
|
robot.put_aux(empty)
|
|
robot.get_aux(b)
|
|
robot.put_aux(a)
|
|
robot.get_aux(empty)
|
|
robot.put_aux(b)
|
|
|
|
def fetch_go_cold():
|
|
robot.move_gonio()
|
|
robot.get_gonio()
|
|
robot.move_cold()
|
|
|
|
def pickup(seg, puck, sam):
|
|
robot.move_dewar()
|
|
robot.get_dewar(seg, puck, sam)
|
|
robot.move_cold()
|
|
|
|
|