Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix ztouch Probing #354

Merged
merged 6 commits into from
Jan 9, 2025
Merged

Fix ztouch Probing #354

Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
4d194bd
Adjust start_position by tip_len
BioCam Jan 9, 2025
45852d0
clarify tip and channel_head difference
BioCam Jan 9, 2025
99af9c2
integrate fitting_depth correctly
BioCam Jan 9, 2025
50c5737
reverse artefact in Centrifuge docs
BioCam Jan 9, 2025
2c8040e
Revert "reverse artefact in Centrifuge docs"
BioCam Jan 9, 2025
1a38109
`make format`
BioCam Jan 9, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 16 additions & 7 deletions pylabrobot/liquid_handling/backends/hamilton/STAR.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7336,7 +7336,7 @@ async def ztouch_probe_z_height_using_channel(
channel_idx: int, # 0-based indexing of channels!
tip_len: Optional[float] = None, # mm
lowest_immers_pos: float = 99.98, # mm
start_pos_search: float = 330.0, # mm
start_pos_search: Optional[float] = None, # mm
channel_speed: float = 10.0, # mm/sec
channel_acceleration: float = 800.0, # mm/sec**2
channel_speed_upwards: float = 125.0, # mm
Expand Down Expand Up @@ -7380,11 +7380,20 @@ async def ztouch_probe_z_height_using_channel(

if tip_len is None:
tip_len = await self.request_tip_len_on_channel(channel_idx=channel_idx)
if start_pos_search is None:
start_pos_search = 334.7 - tip_len + fitting_depth

tip_len_used_in_increments = (tip_len - fitting_depth) / STAR.z_drive_mm_per_increment
channel_head_start_pos = (
start_pos_search + tip_len - fitting_depth
) # start_pos of the head itself!
safe_head_bottom_z_pos = (
99.98 + tip_len - fitting_depth
) # 99.98 == STAR.z_drive_increment_to_mm(9_320)
safe_head_top_z_pos = 334.7 # 334.7 == STAR.z_drive_increment_to_mm(31_200)

lowest_immers_pos_increments = STAR.mm_to_z_drive_increment(lowest_immers_pos)
start_pos_search_increments = STAR.mm_to_z_drive_increment(start_pos_search)
start_pos_search_increments = STAR.mm_to_z_drive_increment(channel_head_start_pos)
channel_speed_increments = STAR.mm_to_z_drive_increment(channel_speed)
channel_acceleration_thousand_increments = STAR.mm_to_z_drive_increment(
channel_acceleration / 1000
Expand All @@ -7395,12 +7404,12 @@ async def ztouch_probe_z_height_using_channel(
assert 20 <= tip_len <= 120, "Total tip length must be between 20 and 120"

assert 9320 <= lowest_immers_pos_increments <= 31_200, (
f"Lowest immersion position must be between \n{STAR.z_drive_increment_to_mm(9_320)}"
+ f" and {STAR.z_drive_increment_to_mm(31_200)} mm, is {lowest_immers_pos} mm"
"Lowest immersion position must be between \n99.98"
+ f" and 334.7 mm, is {lowest_immers_pos} mm"
)
assert 9320 <= start_pos_search_increments <= 31_200, (
f"Start position of LLD search must be between \n{STAR.z_drive_increment_to_mm(9_320)}"
+ f" and {STAR.z_drive_increment_to_mm(31_200)} mm, is {start_pos_search} mm"
assert safe_head_bottom_z_pos <= channel_head_start_pos <= safe_head_top_z_pos, (
f"Start position of LLD search must be between \n{safe_head_bottom_z_pos}"
+ f" and {safe_head_top_z_pos} mm, is {channel_head_start_pos} mm"
)
assert 20 <= channel_speed_increments <= 15_000, (
f"Z-touch search speed must be between \n{STAR.z_drive_increment_to_mm(20)}"
Expand Down
Loading