iswap negative direction (#345)

Co-authored-by: Rick Wierenga <[email protected]>

pylabrobot/liquid_handling/backends/hamilton/STAR.py

@@ -2778,13 +2778,13 @@ async def pick_up_resource(
             hotel_open_gripper_position = pickup.resource.get_absolute_size_y() + 5
 
         await self.unsafe.get_from_hotel(
-          hotel_center_x_coord=round(x * 10),
-          hotel_center_y_coord=round(y * 10),
+          hotel_center_x_coord=round(abs(x) * 10),
+          hotel_center_y_coord=round(abs(y) * 10),
           # hotel_center_z_coord=int((z * 10)+0.5), # use sensible rounding (.5 goes up)
-          hotel_center_z_coord=round(z * 10),
-          hotel_center_x_direction=0,
-          hotel_center_y_direction=0,
-          hotel_center_z_direction=0,
+          hotel_center_z_coord=round(abs(z) * 10),
+          hotel_center_x_direction=0 if x >= 0 else 1,
+          hotel_center_y_direction=0 if y >= 0 else 1,
+          hotel_center_z_direction=0 if z >= 0 else 1,
           clearance_height=round(hotel_clearance_height * 10),
           hotel_depth=round(hotel_depth * 10),
           grip_direction=pickup.direction,
@@ -2801,9 +2801,9 @@ async def pick_up_resource(
           x_position=round(x * 10),
           y_position=round(y * 10),
           z_position=round(z * 10),
-          x_direction=0,
-          y_direction=0,
-          z_direction=0,
+          x_direction=0 if x >= 0 else 1,
+          y_direction=0 if y >= 0 else 1,
+          z_direction=0 if z >= 0 else 1,
           grip_direction={
             GripDirection.FRONT: 1,
             GripDirection.RIGHT: 2,
@@ -2921,9 +2921,12 @@ async def drop_resource(
             hotel_open_gripper_position = drop.resource.get_absolute_size_y() + 50
 
         await self.unsafe.put_in_hotel(
-          hotel_center_x_coord=round(x * 10),
-          hotel_center_y_coord=round(y * 10),
-          hotel_center_z_coord=round(z * 10),
+          hotel_center_x_coord=round(abs(x) * 10),
+          hotel_center_y_coord=round(abs(y) * 10),
+          hotel_center_z_coord=round(abs(z) * 10),
+          hotel_center_x_direction=0 if x >= 0 else 1,
+          hotel_center_y_direction=0 if y >= 0 else 1,
+          hotel_center_z_direction=0 if z >= 0 else 1,
           clearance_height=round(hotel_clearance_height * 10),
           hotel_depth=round(hotel_depth * 10),
           grip_direction=drop.direction,
@@ -2935,12 +2938,12 @@ async def drop_resource(
         )
       else:
         await self.iswap_put_plate(
-          x_position=round(x * 10),
-          y_position=round(y * 10),
-          z_position=round(z * 10),
-          x_direction=0,
-          y_direction=0,
-          z_direction=0,
+          x_position=round(abs(x) * 10),
+          y_position=round(abs(y) * 10),
+          z_position=round(abs(z) * 10),
+          x_direction=0 if x >= 0 else 1,
+          y_direction=0 if y >= 0 else 1,
+          z_direction=0 if z >= 0 else 1,
           grip_direction={
             GripDirection.FRONT: 1,
             GripDirection.RIGHT: 2,

pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py

@@ -88,3 +88,6 @@ async def send_raw_command(
   ) -> Optional[str]:
     print(command)
     return None
+
+  async def request_z_pos_channel_n(self, channel: int) -> float:
+    return 285.0