EPanepucci (x06sa-cons-701)
609a87a986
- bugfix: hexiposi missing "self." for method call - pretend dry for development - bugfix: ensure cryojet retracted in trash sample - typos and whitespace
50 lines
1.1 KiB
Python
50 lines
1.1 KiB
Python
def trash_sample():
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"""
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"""
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evlog = Controller.getInstance().logEvent
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evlog("trash_sample")
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if robot.simulated:
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time.sleep(3.0)
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return
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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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was_cold = robot.is_cold()
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#Enabling
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enable_motion()
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robot.move_gonio()
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curpos = cryopos.getPosition()
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speed = cryopos.getSpeed() / 1000.0
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movetime = int(round(3000 + (15. - curpos) / speed))
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cryopos.move(15.0, movetime)
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cryopos.waitValueInRange(15.0, 1.0, movetime)
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robot.get_gonio()
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robot.move_heater(to_bottom = False)
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robot.move_heater(to_bottom = True)
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try:
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for i in range(3):
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robot.open_tool()
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time.sleep(0.5)
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robot.close_tool()
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time.sleep(0.5)
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finally:
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robot.open_tool()
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robot.move_heater(to_bottom = False)
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if was_cold:
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robot.move_cold()
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else:
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robot.move_home()
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