def calibrate_container_with_instrument(self, container: Container,
instrument, save: bool):
'''Calibrates a container using the top or bottom of the first well'''
well = container[0]
# Get the relative position of well with respect to instrument
delta = pose_tracker.change_base(self.poses, src=instrument, dst=well)
if fflags.calibrate_to_bottom():
delta_x = delta[0]
delta_y = delta[1]
if 'tiprack' in container.get_type():
delta_z = delta[2]
else:
delta_z = delta[2] + well.z_size()
else:
delta_x = delta[0]
delta_y = delta[1]
delta_z = delta[2]
self.poses = self._calibrate_container_with_delta(
self.poses, container, delta_x, delta_y, delta_z, save)
self.max_deck_height.cache_clear()
def update_container_offset(self, container, instrument):
inst = instrument._instrument
log.info('Updating {} in {}'.format(container.name, container.slot))
if instrument._context:
if 'centerMultichannelOnWells' in container._container.quirks:
cp = CriticalPoint.XY_CENTER
else:
cp = None
here = self._hardware.gantry_position(Mount[inst.mount.upper()],
critical_point=cp)
# Reset calibration so we don’t actually calibrate the offset
# relative to the old calibration
container._container.set_calibration(Point(0, 0, 0))
if ff.calibrate_to_bottom() and not (
container._container.is_tiprack):
orig = _well0(container._container)._bottom().point
else:
orig = _well0(container._container)._top().point
delta = here - orig
labware.save_calibration(container._container, delta)
else:
inst.robot.calibrate_container_with_instrument(
container=container._container,
instrument=inst,
save=True
)
def calibrate_container_with_instrument(self, container: Container,
instrument, save: bool):
'''Calibrates a container using the bottom of the first well'''
well = container[0]
# Get the relative position of well with respect to instrument
delta = pose_tracker.change_base(self.poses, src=instrument, dst=well)
if fflags.calibrate_to_bottom():
delta_x = delta[0]
delta_y = delta[1]
if 'tiprack' in container.get_type():
delta_z = delta[2]
else:
delta_z = delta[2] + well.z_size()
else:
delta_x = delta[0]
delta_y = delta[1]
delta_z = delta[2]
if 'trough' in container.get_type():
# Rather than calibrating troughs to the center of the well, we
# calibrate such that a multi-channel would be centered in the
# well. We don't differentiate between single- and multi-channel
# pipettes here, and we track the tip of a multi-channel pipette
# that would go into well A1 of an 8xN plate rather than the axial
# center, but the axial center of a well is what we track for
# calibration, so we add Y_OFFSET_MULTI in the calibration `move`
# command, and then back that value off of the pipette position
# here (Y_OFFSET_MULTI is the y-distance from the axial center of
# the pipette to the A1 tip).
delta_y = delta_y - Y_OFFSET_MULTI
self.poses = calib.calibrate_container_with_delta(
self.poses, container, delta_x, delta_y, delta_z, save)
self.max_deck_height.cache_clear()
