def move_scanner():
    """
    """
    print "move_scanner"
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    #Enabling
    enable_motion()    

    #barcode_reader.start_read(20.0)

    if not robot.is_scanner():
        robot.move_scanner()

    #robot.do_scan()
    #dm = barcode_reader.get_readout()
    dm = barcode_reader.read(0.5)

    print "Datamatrix: " , dm
    #print "Datamatrix: " , barcode_reader.wait_readout()