gac-S_Changer
45 lines
1.1 KiB
Python
45 lines
1.1 KiB
Python
def trash_sample():
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"""
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"""
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print "trash_sample"
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aerotech_x.waitValueInRange(-78, 1.0, 20000)
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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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#Enabling
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enable_motion()
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gripping = robot.gripper_has_sample()
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if gripping is not None:
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raise Exception("unknown gripper state, cannot trash: dry gripper first")
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curpos = cryopos.getPosition()
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speed = cryopos.getSpeed()
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movetime = int(round(5000 + (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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smart_magnet.set_supress(False)
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smart_magnet.set_current(10.0)
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if not robot.is_trash():
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robot.trash_sample()
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robot.move_cold()
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sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
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Controller.getInstance().logEvent("Sample Detection", str(sample_det))
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if sample_det:
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raise Exception("sample detected *after* trash action!")
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smart_magnet.set_default_current()
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smart_magnet.set_supress(True)
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