script/local.py

@@ -95,6 +95,7 @@ run("motion/move_cold")
 run("motion/move_scanner")
 run("motion/dry")
 run("motion/homing_hexiposi")
+run("motion/scan_pin")
 run("motion/robot_recover")
 run("motion/recover")
 run("imgproc/Utils")
@@ -240,7 +241,7 @@ def is_puck_loading():
 
 def set_pin_offset(val):
     if abs(val) >5:
-        raise Exception("Invlid pin offset: " + str(val)) 
+        raise Exception("Invalid pin offset: " + str(val)) 
     try:
         set_setting("pin_offset",float(val))
     except:
@@ -250,12 +251,31 @@ def get_pin_offset():
     try:
         ret =  float(get_setting("pin_offset"))
         if abs(ret) >5:
-            raise Exception("Invlid configured pin offset: " + str(ret))         
+            raise Exception("Invalid configured pin offset: " + str(ret))         
         return ret
     except:
         log("Error getting pin offset: " + str(sys.exc_info()[1]), False)
         return 0.0
 
+
+def set_pin_angle_offset(val):
+    if (abs(val) > 180.0) or (abs(val) < -180.0):
+        raise Exception("Invalid pin angle offset: " + str(val)) 
+    try:
+        set_setting("pin_angle_offset",float(val))
+    except:
+        log("Error setting pin angle offset: " + str(sys.exc_info()[1]), False)
+
+def get_pin_angle_offset():
+    try:
+        ret =  float(get_setting("pin_angle_offset"))
+        if (abs(ret) > 180.0) or (abs(ret) < -180.0):
+            raise Exception("Invalid configured pin angle offset: " + str(ret))         
+        return ret
+    except:
+        log("Error getting pin angle offset: " + str(sys.exc_info()[1]), False)
+        return 0.0
+
 def is_force_dry():
     try:
         dry_mount_counter = int(get_setting("dry_mount_counter"))