public bool MovePlateFromIncubatorToVictor(int PlateSlot, AdditionalMethodArguments eargs)
{
IncubatorServ Incubator = eargs.InstrumentCollection.ReturnInstrumentType<IncubatorServ>();
TransferStation TransStation = eargs.InstrumentCollection.ReturnInstrumentType<TransferStation>();
Twister Robot = eargs.InstrumentCollection.ReturnInstrumentType<Twister>();
//First to unload the plate
Incubator.UnloadPlate(PlateSlot);
TransStation.TurnOnVacuumAndLiftLid();
TransStation.MoveStationOut();
Robot.MovePlateFromTransferStationToPlateReader(eargs);
TransStation.MoveStationIn();
TransStation.TurnOffVacuumAndReturnLid();
return true;
}
public bool CreateProtocol(string ExpName, int Slot,AdditionalMethodArguments eargs)
{
Protocol toModify = eargs.CallingProtocol;
CreateProtocolItems(ExpName, Slot);
toModify.ProtocolName = OD_OutDirec;
toModify.Instructions.Clear();
toModify.Instructions.Add(toVictorInstruction);
toModify.Instructions.Add(ODReadInstruction);
toModify.Instructions.Add(awayFromVictorInstruction);
toModify.Instructions.Add(ReturnInstruction);
toModify.Instructions.Add(DT);
toModify.NextItemToRun = 0;
return true;
}
public bool AttemptToReseatLid(Protocol toModify, AdditionalMethodArguments eargs)
{
IncubatorServ Incubator = eargs.InstrumentCollection.ReturnInstrumentType<IncubatorServ>();
TransferStation TransStation = eargs.InstrumentCollection.ReturnInstrumentType<TransferStation>();
Twister Robot = eargs.InstrumentCollection.ReturnInstrumentType<Twister>();
TransStation.TurnOnVacuumAndLiftLid();
TransStation.MoveStationOut();
Robot.MovePlateFromTransferStationToPlateReader(eargs);
TransStation.MoveStationIn();
TransStation.TurnOffVacuumAndReturnLid();
TransStation.TurnOnVacuumAndLiftLid();
TransStation.MoveStationOut();
Robot.MovePlateFromPlateReaderToIncubator();
TransStation.MoveStationIn();
TransStation.TurnOffVacuumAndReturnLid();
return true;
}
private IncubatorServ GetIncubator(AdditionalMethodArguments eargs)
{
return eargs.InstrumentCollection.ReturnInstrumentType<IncubatorServ>();
}
public void PlaceItemOnTransferStation(AdditionalMethodArguments eargs)
{
IncubatorServ Incubator = GetIncubator(eargs);
//This method assumes that a plate with a lid on it is outside the transfer station
if (Incubator.CheckIfSomethingOnTransferOutStation())
{
throw new InstrumentError("Something already on transfer station", true, this);
}
try
{
MoveToPosition(IncubatorSafe);
MoveToPosition(IncubatorOverPlate);
FindMaterialAndReleaseGrip();
MoveToPosition(IncubatorOverPlate);
MoveToPosition(IncubatorSafe);
}
catch(Exception thrown)
{
//if it fails, try to move the arm back to a safe position
RobotServ.Abort();
RobotServ.SpeedAsPercentMax = (short)5;
throw new InstrumentError("Failed to put item on plate\n\n" + thrown.Message, false, this);
}
}
public void MovePlateFromTransferStationToPlateReader(AdditionalMethodArguments eargs)
{
IncubatorServ Incubator = GetIncubator(eargs);
//first to move to the incubator an pick up the plate
if (!Incubator.CheckIfSomethingOnTransferOutStation())
{
throw new InstrumentError("Nothing on plate reader", true, this);
}
try
{
MoveToPosition(IncubatorSafe);
MoveToPosition(IncubatorOverPlate);
FindMaterialAndGripIt();
MoveToPosition(IncubatorOverPlate);
MoveToPosition(IncubatorSafe);
}
catch(Exception thrown)
{
//if it fails, try to move the arm back to a safe position
//RobotServ.Abort();
MoveToPosition(IncubatorOverPlate, (short)5);
// RobotServ.SpeedAsPercentMax = (short)5;
//RobotServ.MoveAbsolute(IncubatorOverPlate.Rotary, IncubatorOverPlate.Reach, IncubatorOverPlate.Vertical, IncubatorOverPlate.Wrist, IncubatorOverPlate.Track);
throw new InstrumentError("Could not get material from plate", this,thrown);
}
try
{
MoveToPosition(ReaderSafe);
MoveToPosition(ReaderOverPlate);
//MoveToPosition(ReaderPlate);
//RobotServ.GripOpen();
FindMaterialAndReleaseGrip();
MoveToPosition(ReaderOverPlate);
MoveToPosition(ReaderSafe);
}
catch(Exception thrown)
{
//if it fails, try to move the arm back to a safe position
RobotServ.Abort();
RobotServ.SpeedAsPercentMax = (short)5;
throw new InstrumentError("Could not get material from plate",this,thrown);
}
}
public bool MovePlateFromVictorToIncubatorWithLidOnTransferStation(int PlateSlot, AdditionalMethodArguments eargs)
{
IncubatorServ Incubator = eargs.InstrumentCollection.ReturnInstrumentType<IncubatorServ>();
TransferStation TransStation = eargs.InstrumentCollection.ReturnInstrumentType<TransferStation>();
Twister Robot = eargs.InstrumentCollection.ReturnInstrumentType<Twister>();
//First to unload the plate
//first to make sure something is on the dang slider thing
bool HASLID = false;
if (Incubator.CheckIfSomethingOnTransferOutStation())
{
HASLID = true;
TransStation.TurnOnVacuumAndLiftLid();
}
TransStation.MoveStationOut();
Robot.MovePlateFromPlateReaderToIncubator();
TransStation.MoveStationIn();
if (HASLID)
{
TransStation.TurnOffVacuumAndReturnLid();
}
Incubator.LoadPlate(PlateSlot);
return true;
}
public bool ModifyGrowthProtocol(string ExpName, int Slot, AdditionalMethodArguments eargs)
{
try
{
Protocol toModify = eargs.CallingProtocol;
CreateProtocolItems(ExpName, Slot);
toModify.Instructions.Clear();
toModify.Instructions.Add(DT);
toModify.Instructions.Add(toVictorInstruction);
string fname;
try
{
fname = ReturnLastFileName(@"C:\Growth_Curve_Data\\" + OD_OutDirec);
}
catch (Exception thrown)
{
throw new Exception("Could not find most recent file. " + thrown.Message);
}
double medVal;
try
{
medVal = FindLastMedianReading(fname);
}
catch (Exception thrown)
{
throw new Exception("Could not detemine median reading. " + thrown.Message);
}
//move from incubator to platereader
if (medVal > pMedianODToStartMeasurement)
{
toModify.Instructions.Add(VenusReadInstruction);
}
else {
toModify.Instructions.Add(ODReadInstruction);
}
toModify.Instructions.Add(awayFromVictorInstruction);
toModify.Instructions.Add(ReturnInstruction);
toModify.NextItemToRun = 0;
}
catch (Exception thrown)
{
throw new InstrumentError("General Problem:" +thrown.Message,true,this);
}
return true;
}
