script/devices/LaserDistance.py

@@ -14,4 +14,4 @@ listenerAI = ListenerAI()
 ue.addListener(listenerAI)
         
 laser_distance=LaserDistance()   
-add_device(laser_distance, True)
+add_device(laser_distance, True)

script/devices/RobotSC.py

@@ -57,7 +57,8 @@ class RobotSC(RobotTCP):
 
     def put_gonio(self):    
         pin_offset = get_pin_offset()
-        self.start_task('putGonio', pin_offset) 
+        pin_angle_offset = get_pin_angle_offset()
+        self.start_task('putGonio', pin_offset, pin_angle_offset) 
         self.wait_task_finished(TASK_WAIT_ROBOT_POLLING)    
         self.assert_gonio()
 

script/devices/Wago.py

@@ -124,9 +124,7 @@ def release_psys():
 ###################################################################################################
 #  Drier
 ###################################################################################################
-
-MAX_HEATER_TIME = 45000
-
+MAX_HEATER_TIME = 60000
 
 def set_air_stream(state):
     """
@@ -138,6 +136,16 @@ def set_air_stream(state):
 set_heater_chrono = None
 
 def monitor_heater_time():
+    """
+    """
+    return valve_1.read()
+
+
+def get_heater():
+    """
+    """
+    return gripper_dryer.read()
+
     time.sleep(0.5)
     try:
         while get_heater():
@@ -165,8 +173,3 @@ def get_air_stream():
     """
     return valve_1.read()
 
-
-def get_heater():
-    """
-    """
-    return gripper_dryer.read()