script/motion/mount.py

@@ -11,6 +11,10 @@ def mount(segment, puck, sample, force=False):
     robot.assert_cleared()
     #robot.assert_in_known_point()
     hexiposi.assert_homed()
+
+    if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
+        raise Exception("Pin detected on gonio")
+    
     #location = robot.get_current_point()
 
     #Enabling
@@ -26,5 +30,12 @@ def mount(segment, puck, sample, force=False):
             
     robot.get_dewar(segment, puck, sample)
     robot.move_gonio()    
-    robot.put_gonio()    
-    robot.move_dewar()        
+
+    smart_magnet.set_mount_current()
+    try:
+        robot.put_gonio()        
+        robot.move_dewar()               
+        if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == False:
+            raise Exception("No pin detected on gonio")
+    finally:
+        smart_magnet.set_default_current()