script/test/TestCalib.py

@@ -0,0 +1,30 @@
+
+print "calibrate_tool"
+
+#Initial checks
+robot.assert_no_task()
+robot.reset_motion()
+robot.wait_ready()
+robot.assert_cleared()
+#robot.assert_in_known_point()
+
+#Enabling
+enable_motion()
+
+(detected, dm) = move_scanner()
+
+if detected:
+    print "Pin detected, trashing..."
+    trash()
+    (detected, dm) = move_scanner()
+    if detected:
+        raise Exception("Cannot trash pin")
+
+robot.open_tool()        
+robot.get_calibration_tool()
+
+run("calibration/ToolCalibration3")
+
+robot.put_calibration_tool()
+
+robot.save_program()