script/motion/put_gonio.py

@@ -1,4 +1,4 @@
-def put_gonio(segment, puck, sample, force=False):
+def put_gonio(force=False):
     """
     """
     print "put_gonio: ", force

script/motion/tools.py

@@ -65,14 +65,15 @@ def _set_hexiposi(pos):
             
 
 def visual_check_hexiposi(segment):
-    #if is_manual_mode(): ?
-    if hexiposi.moved:
-        #Clearing for image processing
-        if not robot.is_park():
-            print "Moving robot to park to clear camera view..."
-            robot.move_park()        
-        assert_img_in_cover_pos(segment)    
-        hexiposi.moved = False           
+    if is_imaging_enabled():
+        #if is_manual_mode(): ?
+        if hexiposi.moved:
+            #Clearing for image processing
+            if not robot.is_park():
+                print "Moving robot to park to clear camera view..."
+                robot.move_park()        
+            assert_img_in_cover_pos(segment)    
+            hexiposi.moved = False           
 
 
 
@@ -82,7 +83,7 @@ def wait_end_of_move():
         time.sleep(0.01)
 
 
-def move_home():        
+def move_to_home():        
     #robot.reset_motion("jHome")
     robot.movej("pHome", robot.tool , DESC_SCAN)    
     wait_end_of_move()