script/motion/tools.py

@@ -155,4 +155,16 @@ def get_sample_name(segment, puck, sample):
     puck_name = get_puck_name(segment, puck)
     return None if (puck_name is None) else puck_name + str(sample)
 
-    
+
+def is_pin_detected_in_scanner():
+    samples = []
+    for i in range(10):
+        samples.append(laser_distance.read())
+        time.sleep(0.05)
+    av = mean(samples)
+    for s in samples:
+         if s<=1:
+             return False
+         if abs(s-av) > 0.1:
+             return False
+    return True