script/motion/unmount.py

@@ -6,39 +6,25 @@ def unmount(segment, puck, sample, force=False):
     #Initial checks
     assertValidAddress(segment, puck, sample)
     robot.assert_no_task()
+    robot.reset_motion()
     robot.state.assertReady()
     robot.assert_cleared()
-
-    if hexiposi.homed == False:
-        raise Exception ("Hexiposi is not homed")
+    #robot.assert_in_known_point()
+    hexiposi.assert_homed()
 
     #Enabling
     enable_motion()
 
     set_hexiposi(segment)
 
-    if not force:
-        #Clearing for image processing
-        robot.move_park()
-        assert_img_in_cover_pos(segment)
+    if not force:        
+        visual_check_hexiposi(segment)
 
-    location = robot.get_current_point()
+    #location = robot.get_current_point()
 
-    
-    try:
-        robot.get_gonio()
-    except:
-        #TODO: recover
-        raise
-
-    try:
-        robot.move_dewar_wait()        
-    except:
-        #TODO: recover
-        raise
-
-    try:
-        robot.put_dewar(segment, puck, sample)
-    except:
-        #robot.move_dewar()        
-        raise
+    if not robot.is_gonio():
+        robot.move_gonio()
+            
+    robot.get_gonio()
+    robot.move_dewar()        
+    robot.put_dewar(segment, puck, sample)