plugins/RobotBernina.java

@@ -1040,11 +1040,11 @@ public class RobotBernina extends Panel {
     }// </editor-fold>//GEN-END:initComponents
 
     private void moveParkActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_moveParkActionPerformed
-        evalCmd("robot.move_park()"); 
+        evalCmd("move_park()"); 
     }//GEN-LAST:event_moveParkActionPerformed
 
     private void moveHomeActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_moveHomeActionPerformed
-        evalCmd("robot.move_home()"); 
+        evalCmd("move_home()"); 
     }//GEN-LAST:event_moveHomeActionPerformed
 
     private void buttonAbortActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonAbortActionPerformed
@@ -1145,11 +1145,11 @@ public class RobotBernina extends Panel {
     }//GEN-LAST:event_comboCamerasActionPerformed
 
     private void buttonTweakXActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTweakXActionPerformed
-        evalCmd("robot.tweak_x(" + spinnerOffsetX.getValue() + ")");
+        evalCmd("tweak_x(" + spinnerOffsetX.getValue() + ")");
     }//GEN-LAST:event_buttonTweakXActionPerformed
 
     private void buttonTweakX1ActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonTweakX1ActionPerformed
-        evalCmd("robot.tweak_y(" + spinnerOffsetY.getValue() + ")");
+        evalCmd("tweak_y(" + spinnerOffsetY.getValue() + ")");
     }//GEN-LAST:event_buttonTweakX1ActionPerformed
 
     // Variables declaration - do not modify//GEN-BEGIN:variables

script/local.py

@@ -3,4 +3,9 @@
 ###################################################################################################
 
 run("devices/RobotBernina")
-run("devices/Axis")
+run("devices/Axis")
+run ("motion/tools")
+run ("motion/move_home")
+run ("motion/move_park")
+run ("motion/tweak")
+

script/motion/move_home.py

@@ -0,0 +1,18 @@
+def move_home():
+    """
+    """
+    print "move_home"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    #robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_home():
+        robot.move_home()  

script/motion/move_park.py

@@ -0,0 +1,18 @@
+def move_park():
+    """
+    """
+    print "move_park"
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    #robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    if not robot.is_park():
+        robot.move_park()  

script/motion/tools.py

@@ -0,0 +1,32 @@
+POSITION_TOLERANCE = 50
+
+
+def is_manual_mode():
+    """
+    return if operating in local mode. TODO: should be based on IO, not on robot flag.
+    """    
+    return  robot.working_mode == "manual"
+            
+def enable_motion():
+    """
+    Check safety and enable arm power if in remote mode
+    """
+    release_safety()  
+    system_check(robot_move=True)  
+    auto = not is_manual_mode()        
+    if auto:
+        if not robot.state.isNormal():
+            raise Exception("Cannot enable power: robot state is " + str(robot.state))
+        robot.enable()
+        
+
+def wait_end_of_move():
+    robot.update()
+    while (not robot.settled) or (not robot.empty) or (not robot.isReady()) :
+        time.sleep(0.01)
+
+def release_safety():
+    pass
+
+def system_check(robot_move=True):
+    pass

script/motion/tweak.py

@@ -0,0 +1,36 @@
+def tweak_x(offset):
+    """
+    """
+    print "tweak_x", offset
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    #robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+    robot.tweak_x(offset)  
+
+
+
+def tweak_y(offset):
+    """
+    """
+    print "tweak_y", offset
+    
+    #Initial checks
+    robot.assert_no_task()
+    robot.reset_motion()
+    robot.wait_ready()
+    #robot.assert_cleared()
+    #robot.assert_in_known_point()
+
+    #Enabling
+    enable_motion()
+
+
+    robot.tweak_y(offset)