print "calibrate_tool"

#Initial checks
robot.assert_no_task()
robot.reset_motion()
robot.wait_ready()
robot.assert_cleared()
#robot.assert_in_known_point()

#Enabling
enable_motion()

(detected, dm) = move_scanner()

if detected:
    print "Pin detected, trashing..."
    trash()
    (detected, dm) = move_scanner()
    if detected:
        raise Exception("Cannot trash pin")

robot.open_tool()        
robot.get_calibration_tool()

run("calibration/ToolCalibration3")

robot.put_calibration_tool()

robot.save_program()