gac-S_Changer
52 lines
1.2 KiB
Python
52 lines
1.2 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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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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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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time.sleep(0.5)
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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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time.sleep(0.5)
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smart_magnet.set_current(30.0)
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sample_det = False
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msg = None
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try:
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sample_det = smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0)
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evlog("SMC Detection", str(sample_det))
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except:
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msg = "failed to check SMC status"
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if sample_det:
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msg = "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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if msg:
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raise Exception(msg)
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