script/local.py

@@ -93,6 +93,9 @@ run("motion/move_home")
 run("motion/move_park")
 run("motion/move_cold")
 run("motion/move_scanner")
+run("motion/move_aux")
+run("motion/get_aux")
+run("motion/put_aux")
 run("motion/dry")
 run("motion/homing_hexiposi")
 run("motion/scan_pin")
@@ -123,6 +126,8 @@ def get_puck_img_detection(segment, puck):
     return str(Controller.getInstance().getPuck(str(segment).upper() + str(puck)).imageDetection)
 
 def assert_puck_detected(segment, puck):
+    if (segment == AUX_SEGMENT) and (puck == 1):
+        return
     if get_puck_elect_detection(segment, puck) != "Present":
         raise Exception ("Puck " + str(segment).upper() + str(puck) + " not present")
 
@@ -163,6 +168,7 @@ except:
 try:
     robot.setPolling(DEFAULT_ROBOT_POLLING)          
     robot.set_tool(TOOL_DEFAULT)
+    robot.set_frame(FRAME_DEFAULT)
     robot.set_motors_enabled(True)
     robot.set_joint_motors_enabled(True)
 except: