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Stock-Based Compensation - Narrative (Details) (USD $)
 3 Months Ended 6 Months Ended 6 Months Ended 6 Months Ended 0 Months Ended 12 Months Ended 6 Months Ended 0 Months Ended 1 Months Ended
Dec. 29, 2012
equity_compensation_plan
Dec. 31, 2011
Dec. 29, 2012
equity_compensation_plan
Dec. 31, 2011
Jun. 30, 2012
Dec. 29, 2012
Stock Options [Member]
Dec. 29, 2012
ESPP [Member]
Dec. 29, 2012
Restricted Stock and RSU [Member]
Dec. 29, 2012
Restricted Stock Units (RSUs) [Member]
April 2009 Grant [Member]
Dec. 29, 2012
1993 Stock Option Plan [Member]
Dec. 29, 2012
1995 Director Stock Option Plan [Member]
Dec. 29, 2012
2001 Stock Option Plan [Member]
Dec. 29, 2012
2004 Director Option Plan [Member]
Dec. 29, 2012
2005 Equity Incentive Plan [Member]
Dec. 29, 2012
2005 Equity Incentive Plan [Member]
Restricted Stock and RSU [Member]
Dec. 29, 2012
Director Option Plan [Member]
Initial Director Grant [Member]
Prior to March 2010 [Member]
Dec. 29, 2012
Director Option Plan [Member]
Initial Director Grant [Member]
From March 2010 [Member]
Dec. 29, 2012
Director Option Plan [Member]
Annual Non-Employee Director Grant [Member]
Prior to March 2010 [Member]
Dec. 29, 2012
Director Option Plan [Member]
Annual Non-Employee Director Grant [Member]
From March 2010 [Member]
Dec. 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]
Dec. 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]
Dec. 29, 2012
2008 ESPP [Member]
Jun. 30, 2012
Common Stock [Member]
InMoTx, Inc. [Member]
Dec. 31, 2011
Common Stock [Member]
InMoTx, Inc. [Member]
Dec. 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   2                                                          
Expired equity compensation plans, number 4   4                                                          
Subject to Oustanding Options and Restricted Stock - Options 1,478,000   1,478,000   1,473,000         20,789 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     $ 582,000 $ 854,000                                                        
Weighted average grant-date fair value of the options   $ 2.45 $ 2.30                                                          
Assumed annualized forfeiture rate 5.00%     5.00%                                                        
Options Granted     289,000                                                          
Total unrecognized compensation cost related to non-vested stock options granted and outstanding $ 824,414   $ 824,414                                                          
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                           25,811             7,603 65,293           19,500        
Stock Issued During Period, Shares, Employee Stock Purchase Plans                                                     35,646          
Shares of restricted stock forfeited, related to acquisition                           (47,625)                             (80,500)      
Common stock, shares outstanding 10,727,918   10,727,918   10,529,000