script/motion/get_dewar.py

@@ -5,6 +5,8 @@ def get_dewar(segment, puck, sample, force=False):
     
     #Initial checks
     assertValidAddress(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+    
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()

script/motion/mount.py

@@ -5,6 +5,8 @@ def mount(segment, puck, sample, force=False, read_dm=False):
     start = time.time()
     #Initial checks
     assertValidAddress(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+    
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()

script/motion/put_dewar.py

@@ -5,6 +5,8 @@ def put_dewar(segment, puck, sample, force=False):
     
     #Initial checks
     assertValidAddress(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+    
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()

script/motion/recover.py

@@ -0,0 +1,5 @@
+def recover():
+    """
+    """
+    print "recover"
+    

script/motion/robot_recover.py

@@ -11,6 +11,4 @@ def robot_recover():
     #Enabling
     enable_motion()    
 
-    #barcode_reader.start_read(20.0)
-
     robot.robot_recover()

script/motion/unmount.py

@@ -5,6 +5,8 @@ def unmount(segment, puck, sample, force=False):
     
     #Initial checks
     assertValidAddress(segment, puck, sample)
+    assert_puck_detected(segment, puck)
+    
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()