script/motion/scan_pin.py

@@ -0,0 +1,48 @@
+segment, puck, sample, force = "B",1,1, True
+pin_name = get_sample_name(segment, puck, sample)
+
+
+print "scan pin", pin_name
+#Initial checks
+robot.assert_no_task()
+robot.reset_motion()
+robot.wait_ready()
+robot.assert_cleared()
+#robot.assert_in_known_point()
+
+#Enabling
+
+
+enable_motion()    
+set_hexiposi(segment)
+if not force:        
+    visual_check_hexiposi(segment)           
+
+
+robot.move_park()
+
+gripper_cam.update()
+background_img = gripper_cam.getImage()
+
+
+if not robot.is_dewar():
+    robot.move_dewar()      
+        
+robot.get_dewar(segment, puck, sample)
+
+robot.move_park()
+gripper_cam.update()
+sample_img = gripper_cam.getImage()
+
+barcode_reader.start_read(10.0)
+robot.move_scanner()     
+time.sleep(1.0)           
+
+mount_sample_id = barcode_reader.get_readout()
+print "Datamatrix: " , mount_sample_id
+
+robot.move_dewar()        
+robot.put_dewar(segment, puck, sample)
+
+
+