i15-1: Initial Robot Device

[DominicOram]

To be able to load/unload samples for the waffle project we will need a robot device. The robot is currently controlled via a script in /dls_sw/i15-1/scripts/rigs_local/positioners/robot.py. There is quite a bit of complexity there around collision avoidance, ispyb interactions and checking if pucks have lids. This issue is to just do the minimum required to load a sample from a given position/puck assuming that the beamline is in a happy state e.g. no collisions possible and the puck is available.

To do this we will need to:

1. Stop the spinner (maybe, needs discussion with scientist on when they're using the spinner)
2. Pick a sample up from hotel by:
   1. Setting program name PUCK.MB6
   2. Setting position/puck
   3. Running the program
   4. Wait for the program to start/stop
   5. Check error state
3. Place the sample on the beamline by running the BEAM.MB6 program
4. Setting the picked locations on the management PVs (BL15J-EA-LOC-01:SAMPLE:INDEX and BL15J-EA-LOC-01:PUCK:INDEX) - this may make sense as another device

We should also get controls involved as we may be able to push some more of this into a lower level. e.g. differences with MX are:

• There would be just one robot load that does the whole of the above
• The robot would be interlocked on the motion of potential collisions
• The robot would be interlocked on a sensor saying if the sample is already up
• The robot would report sample/puck index itself

Acceptance Criteria

• There is a bluesky plan that, given the beamline is in a happy path state, we can call to do a robot load