Feature/joegwalsh/rts chip manipulation

QC/ChipTesting/RTS_Robot/ErrorDictionary.inc

@@ -0,0 +1,53 @@
+' Note, reserving 1 as not an error because -1 is "True" in BASIC/SPEL
+' and error codes may be passed as negative value output of function
+' General/setup errors
+#define ERR_SERVER 2
+#define ERR_BAD_COMMAND 3
+#define ERR_FILESYSTEM 4
+
+' Robot and motion errors (also see SPEL errors)
+#define ERR_MOTOR 5
+#define ERR_COLLISION 6
+#define ERR_SPEL 7 ' Need to check individual error
+
+' EOAT errors
+#define ERR_EOAT_IO 10
+#define ERR_PUMP 11
+#define ERR_PRESSURE 12
+#define ERR_VACUUM 13
+
+' Chip exists check with contact sensor
+#define ERR_NO_CONTACT 15
+#define ERR_OBSTRUCTION 16
+
+' Chip finding/measuring with vision
+#define ERR_V_NOCHIP 21
+#define ERR_V_OCCUPIED 22
+#define ERR_V_DF_ALIGN 23
+#define ERR_V_UF_ALIGN 24
+' Socket finding/measuring with vision
+#define ERR_V_NOSOCKET 25
+#define ERR_V_SOCKETALIGN 26
+#define ERR_V_CHIPSOCKALIGN 27 ' Chip and socket
+
+#define ERR_BAD_TOLERANCE 28
+
+#define ERR_BAD_ORIENTATION 29
+
+' Position and pin analysis errors
+#define ERR_CALCULATION 51
+#define ERR_ANALYSIS 52
+#define ERR_PINS 53
+
+' Chip pick and place errors, can be combined with above for more specific
+' error, eg 121 would be failure to pick up at tray because no chip is seen
+#define ERR_TRAY_PICK 100
+#define ERR_TRAY_PLACE 200
+#define ERR_SOCK_PICK 300
+#define ERR_SOCK_PLACE 400
+
+' For error code handling
+Global Int32 SubError
+
+
+

QC/ChipTesting/RTS_Robot/MSU_DF_Cal.pts

@@ -0,0 +1,263 @@
+ENVT0100,LM:2025/09/02 19:32:19:791,DS:0000003518,CS:05454,MA:00-15-5D-3C-AE-E5,EI:           
+sVersion="2.0.0"
+nNumberOfPoints=10
+Point1 {
+	nNumber=0
+	sLabel="Reference"
+	sDescription=""
+	nUndefined=0
+	rX=-28.135512530179
+	rY=541.30967009826
+	rZ=-20.724060058594
+	rU=88.362222746016
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point2 {
+	nNumber=1
+	sLabel="UpperLeft"
+	sDescription=""
+	nUndefined=0
+	rX=-105.04344487792
+	rY=514.8656614638
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point3 {
+	nNumber=2
+	sLabel="UpperCenter"
+	sDescription=""
+	nUndefined=0
+	rX=-105.10957786054
+	rY=540.93389282192
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point4 {
+	nNumber=3
+	sLabel="UpperRight"
+	sDescription=""
+	nUndefined=0
+	rX=-105.17571084317
+	rY=567.00212418005
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point5 {
+	nNumber=4
+	sLabel="CenterRight"
+	sDescription=""
+	nUndefined=0
+	rX=-85.630258043662
+	rY=567.03832413156
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point6 {
+	nNumber=5
+	sLabel="Center"
+	sDescription=""
+	nUndefined=0
+	rX=-85.564125061035
+	rY=540.97009277344
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point7 {
+	nNumber=6
+	sLabel="CenterLeft"
+	sDescription=""
+	nUndefined=0
+	rX=-85.497992078408
+	rY=514.90186141531
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point8 {
+	nNumber=7
+	sLabel="LowerLeft"
+	sDescription=""
+	nUndefined=0
+	rX=-65.9525392789
+	rY=514.93806136683
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point9 {
+	nNumber=8
+	sLabel="LowerCenter"
+	sDescription=""
+	nUndefined=0
+	rX=-66.018672261527
+	rY=541.00629272495
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}
+Point10 {
+	nNumber=9
+	sLabel="LowerRight"
+	sDescription=""
+	nUndefined=0
+	rX=-66.084805244154
+	rY=567.07452408308
+	rZ=-20.724060058594
+	rU=179.21090698242
+	rV=-0
+	rW=0
+	rR=0
+	rS=0
+	rT=0
+	nLocal=0
+	nHand=2
+	nElbow=1
+	nWrist=1
+	nJ1Flag=0
+	nJ2Flag=0
+	nJ4Flag=0
+	nJ6Flag=0
+	rJ1Angle=0
+	rJ4Angle=0
+	bSimVisible=False
+}

QC/ChipTesting/RTS_Robot/MSU_EAOT_CAL.pts

@@ -0,0 +1,3 @@
+ENVT0100,LM:2025/05/28 17:51:31:302,DS:0000000133,CS:23853,MA:B8-85-84-9F-6A-05,EI:           
+sVersion="2.0.0"
+nNumberOfPoints=0

QC/ChipTesting/RTS_Robot/MSU_Stinger_Cal.pts

@@ -0,0 +1,3 @@
+ENVT0100,LM:2025/05/28 17:51:04:321,DS:0000000133,CS:23853,MA:B8-85-84-9F-6A-05,EI:           
+sVersion="2.0.0"
+nNumberOfPoints=0

QC/ChipTesting/RTS_Robot/Main.prg

@@ -4,7 +4,7 @@
 
 Function main
 
-	SelectSite
+	SelectSite("")
 
 	' Make sure RTS_DATA folder exists, create if not
 	If Not FolderExists(RTS_DATA$) Then
@@ -16,11 +16,12 @@ Function main
   		Exit Function
 	EndIf
 
+
 	LoadPositionFiles
 
-	VacuumValveClose
-	PumpOn
-	Wait 3
+'	VacuumValveClose
+'	PumpOn
+'	Wait 3
 
 	Motor On
 	' Power Low
@@ -35,26 +36,22 @@ Function main
 
 	' DAT number, socket number, tray, column, row
 
-	MoveChipFromTrayToSocket(2, 22, 1, 1, 2)
+'	MoveChipFromTrayToSocket(2, 22, 1, 1, 2)
 	'MoveChipFromTrayToSocket(2, 22, 2, 1, 3)
 
-	MoveChipFromSocketToTray(2, 22, 1, 1, 2)
-	'MoveChipFromSocketToTray(2, 22, 2, 2, 3)
-
-	'MoveChipFromTrayToSocket(2, 21, 2, 9, 3)
-	'MoveChipFromTrayToSocket(2, 22, 2, 6, 2)
 
 
 	UpdatePositionFiles
-
-	Jump P_Home
-	Motor Off
-	PumpOff
-
-Fend
 
 
 
+'	Do45DegreeOffset = True
+	PickOffset = 0. ' 45.
+
+
+
+
+Fend
 
 Function TrayTakePlaceRepeat(pallet_nr As Integer, col_nr As Integer, row_nr As Integer, ncycles As Integer)
 
@@ -66,7 +63,7 @@ Function TrayTakePlaceRepeat(pallet_nr As Integer, col_nr As Integer, row_nr As
 		Print "Cycle ", i, "/", ncycles
 
 		Int64 status
-		status = MoveChipFromTrayToTray(pallet_nr, col_nr, row_nr, pallet_nr, col_nr, row_nr, 0)
+		status = MoveChipFromTrayToTray(pallet_nr, col_nr, row_nr, pallet_nr, col_nr, row_nr) ' , 0)
 		If status < 0 Then
 			Print "***ERROR!"
 			Exit For