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)