script/motion/mount.py

@@ -55,7 +55,8 @@ def mount(segment, puck, sample, force=False, read_dm=False, auto_unmount=False)
             smart_magnet.set_supress(False)
             time.sleep(0.2)        
         #To better dectect sample
-        smart_magnet.apply_resting()        
+        smart_magnet.apply_resting()
+        time.sleep(0.5)        
         if smart_magnet.check_mounted(idle_time=0.25, timeout = 1.0) == True:
             if auto_unmount and (get_setting("mounted_sample_position") is not None):
                 #auto_unmount set to true so detection remains enabled

script/motion/recover.py

@@ -118,7 +118,7 @@ def move_to_safest_point(segment, vicinity_tolerance = 100):
     #print "Recovered to point " + str(robot.get_curjoint_or_pointrent_point())
 
      
-def recover():
+def recover(move_park = True):
     #Initial checks
     robot.assert_no_task()
     robot.reset_motion()
@@ -144,7 +144,12 @@ def recover():
                 location = robot.get_current_point()
                 if location is None:
                     raise Exception("Robot didn't reach known point")
-                return "Success recovering to point: " +  str(location)
+                print "Success recovered to point: " +  str(location)
+                if move_park:
+                    robot.move_park()                  
+                    return "Success recovered to park position"
+                else:
+                    return "Success recovered to point: " +  str(location)                
             #finally:     
             #    robot.set_default_speed()
     if not is_on_known_segment: