def probe_instrument(instrument, robot, tip_length=None) -> Point:
robot.home()
tp = robot.config.tip_probe
if tip_length is None:
tip_length = robot.config.tip_length[instrument.model]
instrument._add_tip(tip_length)
# probe_center is the point at the center of the switch pcb
center = Point(*tp.center)
hot_spots = robot_configs.calculate_tip_probe_hotspots(tip_length, tp)
# The saved axis positions from limit switch response
axis_pos = []
safe_height = _calculate_safeheight(robot, tp.z_clearance.crossover)
log.info("Moving to safe z: {}".format(safe_height))
robot.poses = instrument._move(robot.poses, z=safe_height)
for hs in hot_spots:
x0 = tp.center[0] + hs.x_start_offs
y0 = tp.center[1] + hs.y_start_offs
z0 = hs.z_start_abs
log.info("Moving to {}".format((x0, y0, z0)))
robot.poses = instrument._move(robot.poses, x=x0, y=y0)
robot.poses = instrument._move(robot.poses, z=z0)
axis_index = 'xyz'.index(hs.axis)
robot.poses = instrument._probe(robot.poses, hs.axis,
hs.probe_distance)
# Tip position is stored in accumulator and averaged for each axis
# to be used for more accurate positioning for the next axis
value = absolute(robot.poses, instrument)[axis_index]
axis_pos.append(value)
# after probing two points along the same axis
# average them out, update center and clear accumulator
# except Z, we're only probing that once
if hs.axis == 'z':
center = center._replace(**{hs.axis: axis_pos[0]})
axis_pos.clear()
elif len(axis_pos) == 2:
center = center._replace(
**{hs.axis: (axis_pos[0] + axis_pos[1]) / 2.0})
axis_pos.clear()
log.debug("Current axis positions for {}: {}".format(
hs.axis, axis_pos))
# Bounce back to release end stop
sgn = hs.probe_distance / abs(hs.probe_distance)
bounce = value + (tp.bounce_distance * -sgn)
robot.poses = instrument._move(robot.poses, **{hs.axis: bounce})
robot.poses = instrument._move(robot.poses, z=safe_height)
log.debug("Updated center point tip probe {}".format(center))
instrument._remove_tip(tip_length)
return center
def probe_instrument(instrument, robot, tip_length=None) -> Point:
robot.home()
if tip_length is None:
tip_length = robot.config.tip_length[instrument.name]
instrument._add_tip(tip_length)
# probe_center is the point at the center of the switch pcb
center = Point(*robot.config.probe_center)
hot_spots = _calculate_hotspots(robot, tip_length, SWITCH_CLEARANCE,
X_SWITCH_OFFSET_MM, Y_SWITCH_OFFSET_MM,
Z_SWITCH_OFFSET_MM, Z_DECK_CLEARANCE,
Z_PROBE_CLEARANCE, Z_PROBE_START_CLEARANCE)
# The saved axis positions from limit switch response
axis_pos = []
safe_height = _calculate_safeheight(robot, Z_CROSSOVER_CLEARANCE)
log.info("Moving to safe z: {}".format(safe_height))
robot.poses = instrument._move(robot.poses, z=safe_height)
for axis, x, y, z, distance in hot_spots:
if axis == 'z':
x = x + center.x
y = y + center.y
z = z + center.z
else:
x = x + center.x
y = y + center.y
log.info("Moving to {}".format((x, y, z)))
robot.poses = instrument._move(robot.poses, x=x, y=y)
robot.poses = instrument._move(robot.poses, z=z)
axis_index = 'xyz'.index(axis)
robot.poses = instrument._probe(robot.poses, axis, distance)
# Tip position is stored in accumulator and averaged for each axis
# to be used for more accurate positioning for the next axis
value = absolute(robot.poses, instrument)[axis_index]
axis_pos.append(value)
# after probing two points along the same axis
# average them out, update center and clear accumulator
# except Z, we're only probing that once
if axis == 'z':
center = center._replace(**{axis: axis_pos[0]})
axis_pos.clear()
elif len(axis_pos) == 2:
center = center._replace(
**{axis: (axis_pos[0] + axis_pos[1]) / 2.0})
axis_pos.clear()
log.debug("Current axis positions for {}: {}".format(axis, axis_pos))
# Bounce back to release end stop
bounce = value + (BOUNCE_DISTANCE_MM * (-distance / abs(distance)))
robot.poses = instrument._move(robot.poses, **{axis: bounce})
robot.poses = instrument._move(robot.poses, z=safe_height)
log.debug("Updated center point tip probe {}".format(center))
instrument._remove_tip(tip_length)
return center
