Stock-Based Compensation - Narrative (Details) (USD $)	3 Months Ended			3 Months Ended								3 Months Ended							0 Months Ended			12 Months Ended			0 Months Ended
	Sep. 29, 2012 equity_compensation_plan	Oct. 01, 2011	Jun. 30, 2012	Sep. 29, 2012 Stock Options [Member]	Sep. 29, 2012 ESPP [Member]	Sep. 29, 2012 Restricted Stock and RSU [Member]	Sep. 29, 2012 Restricted Stock Units (RSUs) [Member] April 2009 Grant [Member]	Sep. 29, 2012 1993 Stock Option Plan [Member]	Sep. 29, 2012 1995 Director Stock Option Plan [Member]	Sep. 29, 2012 2001 Stock Option Plan [Member]	Sep. 29, 2012 2004 Director Option Plan [Member]	Sep. 29, 2012 2005 Equity Incentive Plan [Member]	Sep. 29, 2012 2005 Equity Incentive Plan [Member] Restricted Stock and RSU [Member]	Sep. 29, 2012 Director Option Plan [Member] Initial Director Grant [Member] Prior to March 2010 [Member]	Sep. 29, 2012 Director Option Plan [Member] Initial Director Grant [Member] From March 2010 [Member]	Sep. 29, 2012 Director Option Plan [Member] Annual Non-Employee Director Grant [Member] Prior to March 2010 [Member]	Sep. 29, 2012 Director Option Plan [Member] Annual Non-Employee Director Grant [Member] From March 2010 [Member]	Sep. 29, 2012 Director Option Plan [Member] March 2010 One-time Grant [Member]	Jun. 25, 2012 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 25, 2011 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Apr. 15, 2011 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 30, 2012 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Sep. 29, 2012 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 30, 2010 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 30, 2012 Common Stock [Member] InMoTx, Inc. [Member]	Sep. 20, 2011 Common Stock [Member] InMoTx, Inc. [Member]	Sep. 29, 2012 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member]	Jun. 25, 2010 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jan. 10, 2011 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member] InMoTx, Inc. [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock option contractual term				10 years
Discount percentage, ESPP					15.00%
Plan-defined purchase date intervals					6 months
Equity compensation plans, number	2
Expired equity compensation plans, number	4
Subject to Oustanding Options and Restricted Stock - Options	1,622,000		1,473,000					23,089	1,200	88,000	107,000
Award vesting period				4 years			6 months						2 years			4 years
Annual option grants															10,000		6,000
Award annual vesting percentage															50.00%
Award vesting percentage after one year														25.00%				100.00%
Remaining equal vesting years after first anniversary														3 years
Stock-based compensation	$ 336,000	$ 552,000
Weighted average grant-date fair value of the options	$ 2.42	$ 2.56
Assumed annualized forfeiture rate	5.00%	5.00%
Options Granted	209,000
Total unrecognized compensation cost related to non-vested stock options granted and outstanding	$ 1,415,619
Options outstanding, weighted average remaining contractual life				1 year 4 months 2 days		10 months 17 days
Shares of unregistered restricted stock issued outside of equity incentive plans in connection with acquisitions, total																						7,603	7,603	368,956			468,956	368,956	100,000
Shares of restricted stock with accelerated vesting, related to acquisition																					173,074	115,383
Shares of restricted stock vested, related to acquisition																			7,603	65,293					19,500
Shares of restricted stock forfeited, related to acquisition												(10,000)														(80,500)
Common stock, shares outstanding	10,726,841		10,529,000