def test_instr_max_height():
deck = Deck()
trough = labware.load(trough_name, deck.position_for(1))
trough2 = labware.load(trough_name, deck.position_for(2))
deck[1] = trough
deck[2] = trough2
# if the highest deck height is between 1 mm and 10 mm below
# the max instrument achievable height, we use the max instrument
# height as the safe height
instr_max_height = trough.wells()[0].top().point.z + 1
height = safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert height == round(instr_max_height, 2)
# if the highest deck height is > 10 mm below the max instrument
# height, we use the lw_z_margin instead
instr_max_height = trough.wells()[0].top().point.z + 30
height2 = safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
assert height2 ==\
round(trough.wells()[0].top().point.z, 2) + 15.0
# it fails if the highest deck height is less than 1 mm below
# the max instr achievable height
instr_max_height = trough.wells()[0].top().point.z
with pytest.raises(Exception):
safe_height(
trough.wells()[0].top(), trough2.wells()[0].top(),
deck, round(instr_max_height, 2), 7.0, 15.0)
async def _move(self, to_loc: Location):
from_pt = await self._get_current_point()
from_loc = Location(from_pt, None)
cp = self._get_critical_point()
max_height = self._hardware.get_instrument_max_height(self._mount)
safe = geometry.safe_height(
from_loc, to_loc, self._deck, max_height)
moves = plan_arc(from_pt, to_loc.point, safe,
origin_cp=None,
dest_cp=cp)
for move in moves:
await self._hardware.move_to(mount=self._mount,
abs_position=move[0],
critical_point=move[1])
async def _move(self,
mount: Mount,
to_loc: Location,
cp_override: CriticalPoint = None):
from_pt = await self.hardware.gantry_position(mount)
from_loc = Location(from_pt, None)
cp = cp_override or self._pip_info_by_mount[mount].critical_point
max_height = self.hardware.get_instrument_max_height(mount)
safe = geometry.safe_height(
from_loc, to_loc, self._deck, max_height)
moves = plan_arc(from_pt, to_loc.point, safe,
origin_cp=None,
dest_cp=cp)
for move in moves:
await self.hardware.move_to(
mount, move[0], critical_point=move[1])