dodal.devices.robot.BartRobot#

class dodal.devices.robot.BartRobot[source]#

The sample changing robot.

Parameters:

  • prefix (str)

  • name (str, default: '')

Methods

pin_state_or_error([expected_state])

This co-routine will finish when either the pin sensor reaches the specified state or the robot gives an error (whichever happens first).

set(value)

Perform a sample load from the specified sample location :type value: SampleLocation | None :param value: The pin and puck to load, or None to unload the sample.

Attributes

LIGHT_CURTAIN_TRIPPED

LOAD_TIMEOUT

LOAD_TOLERANCE_MM

NOT_BUSY_TIMEOUT

NO_ERROR

NO_PIN_ERROR_CODE

async pin_state_or_error(expected_state=PinMounted.PIN_MOUNTED)[source]#

This co-routine will finish when either the pin sensor reaches the specified state or the robot gives an error (whichever happens first). In the case where there is an error a RobotLoadError error is raised.

set(value: SampleLocation | None)[source]#

Perform a sample load from the specified sample location :type value: SampleLocation | None :param value: The pin and puck to load, or None to unload the sample.

Raises:

RobotLoadError if a timeout occurs, or if an error occurs loading the smaple. –