testing

AD-SDL · May 8, 2024 · 19f3c09 · 19f3c09
1 parent cbf0442
commit 19f3c09
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Showing 3 changed files with 115 additions and 20 deletions.
diff --git a/src/platecrane_driver/plate_resources.json b/src/platecrane_driver/plate_resources.json
@@ -38,7 +38,15 @@
         "plate_pick_steps_stack": 7900,
         "plate_lid_steps": 0,
         "lid_height": 0
-
+    }, 
+    "test_96_well":{ 
+        "plate_above_height": 800,
+        "plate_pick_steps_module": 1500,
+        "plate_pick_steps_stack": 2400,
+        "plate_lid_steps": 100,
+        "lid_height": 2500   
     }
+
+
 
 }
diff --git a/src/platecrane_driver/platecrane_driver.py b/src/platecrane_driver/platecrane_driver.py
@@ -3,6 +3,7 @@
 import re
 from pathlib import Path
 
+#from platecrane_driver.serial_port import SerialPort
 from serial_port import SerialPort
 
 
@@ -710,11 +711,15 @@ def remove_lid(
         """
         self.get_new_plate_height(plate_type)
 
+        # TESTING 
+        print("LID HEIGHT")
+        print(self.lid_height)
+
         target_offset = (
             2 * self.plate_above_height
             - self.plate_pick_steps_stack
             + self.lid_height
-            + height_offset
+            # + height_offset
         )  # Finding the correct target hight when only transferring the plate lid
         target_loc = self.get_location_joint_values(target)
         remove_lid_target = "Temp_Lid_Target_Loc"
@@ -727,6 +732,7 @@ def remove_lid(
             target_loc[3],
         )
         self.plate_pick_steps_stack = self.plate_lid_steps
+
         self.transfer(
             source=source,
             target=remove_lid_target,
@@ -760,7 +766,7 @@ def replace_lid(
             2 * self.plate_above_height
             - self.plate_pick_steps_stack
             + self.lid_height
-            + height_offset
+            # + height_offset
         )  # Finding the correct target hight when only transferring the plate lid
         source_loc = self.get_location_joint_values(source)
         remove_lid_source = "Temp_Lid_Source_loc"

diff --git a/src/platecrane_driver/test.py b/src/platecrane_driver/test.py
@@ -1,4 +1,6 @@
-"""TESTS"""
+import platecrane_driver
+
+
 if __name__ == "__main__":
     import platecrane_driver
 
@@ -18,10 +20,24 @@
     sealer = "SealerNest"
     # s.move_location("Safe")
 
+    # print(s.lid_height)
+
+    s.remove_lid(source = "Solo.Position2", target="LidNest1", plate_type="test_96_well")
+    #print(s.lid_height)
+    # s.move_location("Solo.Position1")
+
+
+    # print(s.get_position())
+    # s.set_location("Safe", 182220, 2500, 460, -308)
+
+    # # # s.move_location("Solo.Position1")
+    # s.move_location("Safe")
+
+
     # s.move_location("Stack4")
     # s.move_single_axis("Z", "Safe", delay_time=1)  # move all the way up in z height
 
-    # print(s.get_location_list())
+    #print(s.get_location_list())
 
     # s.transfer("Stack4","Solo.Position1",source_type="stack",target_type="stack",height_offset=800)  # test from stack to solo pos 1
     # s.transfer("Stack4","Solo.Position1",source_type="stack",target_type="stack")   # Stack 4 to SOLO 1
@@ -59,36 +75,101 @@
 
     ### Hidex Recalibration
 
-    # print(s.get_position())
+    #s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset = 700)
+
+
+    #print(s.get_location_list())
 
-    # s.set_location("Safe", 195399, 2646, 0, 0)
+    #s.set_location("Sealer.Nest", 117468, 1220, -4748, 4550)
 
-    s.transfer(
-        "Hidex.Nest",
-        "Sealer.Nest",
-        source_type="module",
-        target_type="stack",
-        height_offset=650,
-    )
+    #print(s.get_position())
+    # s.delete_location("Temp_Lid_Source_Loc")
+    # s.delete_location("Temp_Lid_Target_Loc")
+    # s.delete_location("Temp_Lid_Source_loc")
+    #s.delete_location("TEST")
 
-    print(s.get_location_list())
 
+    # s.transfer(
+    #     "Hidex.Nest",
+    #     "Sealer.Nest",
+    #     source_type="module",
+    #     target_type="stack",
+    #     height_offset=650,
+    # )
 
+    # print(s.get_location_list())
+
+
+    # s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position1",source_type="module",target_type="stack", height_offset=650)
+    # #s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+
+    # s.transfer("Solo.Position1","Solo.Position2",source_type="stack",target_type="stack")
+
+    # s.transfer("Solo.Position2","Sealer.Nest",source_type="stack",target_type="stack")
+
+    # s.transfer("Sealer.Nest","Peeler.Nest",source_type="stack",target_type="stack")
+
+    # s.transfer("Peeler.Nest","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+
+    # s.transfer("Hidex.Nest","LidNest1",source_type="module",target_type="stack", height_offset=650)
+
+    # s.transfer("LidNest1","LidNest2",source_type="stack",target_type="stack")
+
+    # s.transfer("LidNest2","LidNest3",source_type="stack",target_type="stack")
+
+    # s.transfer("LidNest3","Stack1",source_type="stack",target_type="stack")
+
+    # s.transfer("Stack1","Stack2",source_type="stack",target_type="stack")
+
+    # s.transfer("Stack2","Stack3",source_type="stack",target_type="stack")
+
+    # s.transfer("Stack3","Stack4",source_type="stack",target_type="stack")
+
+    # s.transfer("Stack4","Stack5",source_type="stack",target_type="stack")
+
+    # s.transfer("Stack5","Solo.Position2",source_type="stack",target_type="stack")
 # old sealer nest 28:SealerNest, 210256, -1050, 491, 5730
 
 
+
+
+    # Hidex positions test
+    # s.transfer("Solo.Position2","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position1",source_type="module",target_type="stack", height_offset=650)
+    # s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position2",source_type="module",target_type="stack", height_offset=650)
+
+
+    # Hidex position test
+    # s.transfer("Peeler.Nest","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position1",source_type="module",target_type="stack", height_offset=650)
+
+    # s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position2",source_type="module",target_type="stack", height_offset=650)
+
+    # s.transfer("Solo.Position2","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Peeler.Nest",source_type="module",target_type="stack", height_offset=650)
+
+
 # ----------------------------------------------------------------------------------------------------------------------------------------
 
 
 # s.pick_stack_plate("Stack1")
 # a = s.get_position()
 # s.set_location("LidNest3",R=231449,Z=-31500,P=484,Y=-306)
 
-# s.set_location("Hidex.Nest",R=a[0],Z=a[1],P=a[2],Y=a[3])
-# s.place_module_plate("Hidex.Nest")
-# s.move_single_axis("Z","Hidex.Nest")
-# s.transfer("Hidex.Nest","Solo.Position1",source_type="module",target_type="stack",height_offset=800)
-# s.transfer("Stack1", "PeelerNest",source_type="stack",target_type="stack")
+    # s.transfer("Solo.Position1","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position2",source_type="module",target_type="stack", height_offset=650)
+
+    # s.transfer("Solo.Position2","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Peeler.Nest",source_type="module",target_type="stack", height_offset=650)
+
+    # s.transfer("Peeler.Nest","Hidex.Nest",source_type="stack",target_type="module", height_offset=700)
+    # s.transfer("Hidex.Nest","Solo.Position1",source_type="module",target_type="stack", height_offset=650)
+
+
+
 
 # s.place_module_plate()
 # s.get_location_list()