#
# File: Example_YeastColonyPicking.py
# Description: Picks yeast colonies from source plate and deposits or streaks them into target plates. Lids are withdrawn and replaced before and after probing plates.
# Applicators are replaced before a new source colony is picked. Source colonies are detected automatically. Colonies are deposited into target plates according to predetermined schema.
import sys
import os
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
import robotutil
import commonYeastTasks as cyt
import ExampleYeastWorkspace
#### BEGIN PGM ####
robot = robotutil.MAPLE("MAPLE.cfg")
## Starts main yeast colony manipulation routine
curApp = 0
cyt.applicatorEquip(
robot, ExampleYeastWorkspace.YeastWorkspace['yeastApplicatorPlate'], curApp
) # loads first applicator into MAPLE's organism manipulator end effector
equippedApp = cyt.applicatorTest(robot) # tests whether applicator is loaded
curApp = curApp + 1
test = 1
colonyX, colonyY = cyt.detectColony(
robot, ExampleYeastWorkspace.YeastWorkspace['yeastArena3x3'],
2) # returns viable source colony coordinates (in camera field of view)
while test == 1:
cyt.lidWithdraw(robot,
posStr = "X: {0[0]:.1f} Y:{0[1]:.1f} Z0: {0[2]:.2f} Z1: {0[3]:.2f} Z2: {0[4]:.2f}".format(
currentPosition)
cv2.rectangle(img, (0, imgSize[1]), (imgSize[0], imgSize[1] - 30),
(25, 25, 25), -1)
cv2.putText(img, posStr, (25, imgSize[1] - 10), cv2.FONT_HERSHEY_PLAIN, 1,
(255, 255, 255))
cv2.putText(img, "? for help", (25, 30), cv2.FONT_HERSHEY_PLAIN, 2,
(255, 255, 255), 2)
cv2.line(img, crosshairPts[0], crosshairPts[1], (0, 0, 0), 3)
cv2.line(img, crosshairPts[2], crosshairPts[3], (0, 0, 0), 3)
cv2.line(img, crosshairPts[0], crosshairPts[1], (255, 255, 255), 1)
cv2.line(img, crosshairPts[2], crosshairPts[3], (255, 255, 255), 1)
# And pass in the ZAxisBaseAddress here
robot = robotutil.MAPLE(configFile)
if robot.isInitialized == False:
print "Initialization error."
exit()
else:
print "Robot initialized."
# robot.home()
robot.light(True)
cv2.namedWindow("MAPLE")
imageMode = True
key = -1
