gac-S_Changer
61 lines
1.7 KiB
Python
61 lines
1.7 KiB
Python
IS_PSI_GRIPPER = get_setting("tool_default") == "tPSI"
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# PSI SUNA
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DEFAULT_DRY_HEAT_TIME = 45.0 if IS_PSI_GRIPPER else 45.0
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DEFAULT_DRY_SPEED = 0.3 if IS_PSI_GRIPPER else 0.3
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DEFAULT_DRY_WAIT_COLD = 40.0 if IS_PSI_GRIPPER else 40.0
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def dry(heat_time=None, speed=None, wait_cold = None):
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"""
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heat_time (float): in seconds
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speed (float): % of nominal speed
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wait_cold(float): if negative, move to dewar after drying
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Else move to cold and wait (in seconds) before returning.
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"""
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if heat_time is None:
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heat_time = DEFAULT_DRY_HEAT_TIME
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if speed is None:
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speed = DEFAULT_DRY_SPEED
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if wait_cold is None:
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wait_cold = DEFAULT_DRY_WAIT_COLD
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print "dry heat_time = {}, speed = {}, wait_cold = {}".format(heat_time, speed, wait_cold)
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if robot.simulated:
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time.sleep(10.0)
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return
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#Initial chec
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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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set_status("Drying")
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#Enabling
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enable_motion()
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try:
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set_heater(True)
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robot.move_heater(speed, False)
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time.sleep(heat_time)
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robot.move_heater(speed, True)
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set_air_stream(True)
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robot.move_heater(speed, False)
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finally:
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set_heater(False)
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set_air_stream(False)
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set_setting("dry_mount_counter", 0)
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set_setting("dry_timestamp",time.time())
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if wait_cold >=0 :
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robot.move_cold()
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time.sleep(wait_cold)
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else:
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robot.move_park() |