38 lines
789 B
Python
38 lines
789 B
Python
def trash():
|
|
"""
|
|
"""
|
|
print "trash"
|
|
|
|
if robot.simulated:
|
|
time.sleep(3.0)
|
|
return
|
|
|
|
#Initial checks
|
|
robot.assert_no_task()
|
|
robot.reset_motion()
|
|
robot.wait_ready()
|
|
robot.assert_cleared()
|
|
#robot.assert_in_known_point()
|
|
|
|
#Enabling
|
|
enable_motion()
|
|
|
|
robot.move_heater(to_bottom = False)
|
|
robot.move_heater(to_bottom = True)
|
|
|
|
try:
|
|
for i in range(3):
|
|
robot.open_tool()
|
|
time.sleep(0.5)
|
|
robot.close_tool()
|
|
time.sleep(0.5)
|
|
finally:
|
|
robot.open_tool()
|
|
|
|
|
|
robot.move_heater(to_bottom = False)
|
|
cover_info = get_cover_location_mm()
|
|
robot.move_dewar(*cover_info)
|
|
robot.move_cold()
|
|
return True
|
|
|