gac-S_Changer
24 lines
802 B
Python
24 lines
802 B
Python
def check_gripper(sample):
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print "tool open: " + str(robot.is_tool_open())
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print "gripper: " + str(robot.gripper_has_sample())
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print "di gripper has sample: " + str(robot.eval_bool("diToolHasSample"))
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print "di gripper open: " + str(robot.eval_bool("diToolOpen"))
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def fetch_check_gripper(sample):
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if not robot.is_aux():
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robot.move_aux()
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robot.get_aux(sample)
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print "tool open: " + str(robot.is_tool_open())
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print "gripper: " + str(robot.gripper_has_sample())
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print "di with sample: " + str(robot.eval_bool("diToolHasSample"))
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print "di no sample: " + str(robot.eval_bool("diToolOpen"))
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def swap_samples(a, b, empty):
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robot.get_aux(a)
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robot.put_aux(empty)
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robot.get_aux(b)
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robot.put_aux(a)
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robot.get_aux(empty)
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robot.put_aux(b)
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