script/local.py

@@ -7,6 +7,8 @@ from ch.psi.pshell.modbus import ModbusTCP
 import ch.psi.mxsc.Controller as Controller
 import ch.psi.pshell.core.Nameable as Nameable
 import ch.psi.utils.Chrono as Chrono
+import ch.psi.mxsc.Controller as Controller
+
 
 
 run("setup/Layout")
@@ -76,6 +78,7 @@ add_device(img.getCamera(), force = True)
 ###################################################################################################
 
 run("data/samples")
+run("data/pucks")
 run("motion/tools")
 run("motion/mount")
 run("motion/unmount")
@@ -88,6 +91,7 @@ run("motion/move_gonio")
 run("motion/move_heater")
 run("motion/move_home")
 run("motion/move_park")
+run("motion/move_cold")
 run("motion/move_scanner")
 run("motion/dry")
 run("motion/homing_hexiposi")
@@ -216,7 +220,7 @@ for l in dewar_level.listeners:
         
 dewar_level.addListener(dewar_level_listener)
 dewar_level_listener.onValueChanged(dewar_level, dewar_level.take(), None)
-
+    
 
 
 ###################################################################################################
@@ -230,10 +234,15 @@ cover_detection_debug = False
 
 
 def is_puck_loading():
-    return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and  feedback_psys_safety.take() == False
+    return robot.state == State.Ready and robot.take()["pos"] == 'pPark' and \
+    feedback_psys_safety.take() == False and \
+    not guiding_tool_park.read()
 
 
 update()
+add_device(Controller.getInstance().basePlate, True)
+restore_samples_info()
+    
 
 print "Initialization complete"