private void MoveToPosition(TwisterPosition Position, short MoveSpeed)
{
if (!RobotServ.Vertical.get_MotorEnabled())
{
EnableVerticalMotor();
}
RobotServ.SpeedAsPercentMax = MoveSpeed;
RobotServ.MoveAbsolute(Position.Rotary, Position.Reach, Position.Vertical, Position.Wrist, Position.Track);
}
//Private methods
private void MoveToPosition(TwisterPosition Position)
{
MoveToPosition(Position, Position.SpeedToMoveAt);
}
public void PlaceItemInRack(int RackNumber)
{
try
{
TwisterPosition Safe = RackPositions[RackNumber - 1, 0];
TwisterPosition Poised = RackPositions[RackNumber - 1, 1];
TwisterPosition[] ToMoveTo = new TwisterPosition[2] { Safe, Poised };
foreach (TwisterPosition Position in ToMoveTo)
{
MoveToPosition(Position);
//RobotServ.SpeedAsPercentMax = Position.SpeedToMoveAt;
// RobotServ.MoveAbsolute(Position.Rotary, Position.Reach, Position.Vertical, Position.Wrist, Position.Track);
}
//now to place the item
FindMaterialAndReleaseGrip();
ToMoveTo = new TwisterPosition[2] { Poised, Safe };
foreach (TwisterPosition Position in ToMoveTo)
{
MoveToPosition(Position);
//RobotServ.SpeedAsPercentMax = Position.SpeedToMoveAt;
//RobotServ.MoveAbsolute(Position.Rotary, Position.Reach, Position.Vertical, Position.Wrist, Position.Track);
}
}
catch (Exception thrown)
{
RobotServ.Abort();
throw new InstrumentError("Could not place item in rack\n\n" + thrown.Message, false, this);
}
}
private void initializeTwisterPositions()
{
//First to adjust positions
Dictionary<string, Twister.TwisterPosition> TwistDict = new Dictionary<string, Twister.TwisterPosition>();
FileStream f = new FileStream(IncubatorPositionsFile, FileMode.Open);
BinaryFormatter b = new BinaryFormatter();
TwistDict = (Dictionary<string, Twister.TwisterPosition>)b.Deserialize(f);
f.Close();
ReaderSafe = TwistDict["Reader Safe"];
ReaderOverPlate =TwistDict["Reader Clearance"];
ReaderPlate = TwistDict["Reader Place"];
//now for the incubator, actually the process incubator in Clara
IncubatorSafe = TwistDict["Incubator Safe"];
IncubatorOverPlate = TwistDict["Incubator Clearance"];
IncubatorPlate = TwistDict["Incubator Place"];
//Now for the Garbage Location
GarbageLocation = TwistDict["Garbage Safe"];
GlobalSafe = TwistDict["Global Safe"];
//now for twister rest spots
RestSafe = TwistDict["Rest Safe"];
RestLocation = TwistDict["Rest Position"];
//Now to give all the coordinates of the rack positions
//RackPositions = new Twister.TwisterPosition[6, 2];
//for (int i = 0; i < 6; i++)
//{
// string Key2 = "Rack " + (i+1).ToString();
// string Key1 = Key2+ " Clearance";
// RackPositions[i, 0] = TwistDict[Key1];
// RackPositions[i, 1] = TwistDict[Key2];
//}
//Now for the SciClonePositions
//Very important!!! This will hold the positions labelled 1-5, with 1 being closest
//to the computer. Position 1 is for the pippette tips, and so will have a special location,
//while position 4 holdsthe shaker.
//only position one will have the move absolute rule enforced
//Note that the first spot is the "safe" position, and the second is the "down" position
//also note that I am defining one "safety position" for all sciclone moves"
//ScicloneSafe = TwistDict["Sci Safe"];
//SciCloneSpots = new Twister.TwisterPosition[4, 2];
//for (int i = 0; i < 4; i++)
//{
// string Key2 = "SciClone " + (i + 1).ToString();
// string Key1 = Key2 + " Clearance";
// SciCloneSpots[i, 0] = TwistDict[Key1];
// SciCloneSpots[i, 1] = TwistDict[Key2];
//}
}
public void GrabItemFromRack(int RackNumber)
{
try
{
TwisterPosition Safe = RackPositions[RackNumber - 1, 0];
TwisterPosition Poised = RackPositions[RackNumber - 1, 1];
TwisterPosition[] ToMoveTo = new TwisterPosition[2] { Safe, Poised };
foreach (TwisterPosition Position in ToMoveTo)
{
MoveToPosition(Position);
//RobotServ.SpeedAsPercentMax = Position.SpeedToMoveAt;
//RobotServ.MoveAbsolute(Position.Rotary, Position.Reach, Position.Vertical, Position.Wrist, Position.Track);
}
//now to get the item
FindMaterialAndGripIt();
ToMoveTo = new TwisterPosition[2] { Poised, Safe };
foreach (TwisterPosition Position in ToMoveTo)
{
MoveToPosition(Position);
//RobotServ.SpeedAsPercentMax = Position.SpeedToMoveAt;
//RobotServ.MoveAbsolute(Position.Rotary, Position.Reach, Position.Vertical, Position.Wrist, Position.Track);
}
}
catch (Exception thrown)
{
throw new InstrumentError("Could not get item\n\n" + thrown.Message, this,thrown);
}
}