def __init__(self, config, xaxis=DEFAULT_XYZ_AXIS, yaxis=DEFAULT_XYZ_AXIS, zaxis=DEFAULT_XYZ_AXIS, paxis=DEFAULT_P_AXIS, saxis=DEFAULT_S_AXIS): '''Initialize parts of robot''' self.cmdMng = CommandManager.from_config(config) self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'], xaxis['max']) self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'], yaxis['max']) self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'], zaxis['max']) self.xy = MultiAxis(self.x, self.y) self.xyz = MultiAxis(self.x, self.y, self.z) self.p = Pipette( Axis(self.cmdMng.P, paxis['ul_per_step'], paxis['min'], paxis['max']), paxis['min'], paxis['max']) self.s = Shaker(self.cmdMng.S, saxis['deg_per_step'], saxis['min'], saxis['max']) '''Initialize arena''' self.arena = self.arena_from_configfile() self.tools = self.extract_dict_from_dict(self.arena, 'tools') self.wellplates = self.extract_rack_from_dict(self.arena, 'wellplates') if 'tipracks' in self.arena: self.tipracks = self.extract_rack_from_dict(self.arena, 'tipracks') '''Tracking parameters''' self.liquid_height = 0 '''Home robot axes''' self.home()
def __init__(self, config, xaxis=DEFAULT_XYZ_AXIS, yaxis=DEFAULT_XYZ_AXIS, zaxis=DEFAULT_XYZ_AXIS, p=DEFAULT_P_PARAMS): '''Initialize parts of robot''' self.cmdMng = CommandManager.from_config(config) self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'], xaxis['max']) self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'], yaxis['max']) self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'], zaxis['max']) self.xy = MultiAxis(self.x, self.y) self.xyz = MultiAxis(self.x, self.y, self.z) #self.p = Pipette(p['ul_per_incr'], p['min'], p['max']) self.p = Pipette.from_config(config)
def __init__(self, config, name): self.mgr = CommandManager.from_config(config) self.config = config self._name = name