def test_dispense_move_to(old_aspiration):
# TODO: same as for aspirate
robot.reset()
tip_rack = containers_load(robot, 'tiprack-200ul', '3')
p300 = instruments.P300_Single(
mount='left',
tip_racks=[tip_rack])
x, y, z = (161.0, 116.7, 0.0)
plate = containers_load(robot, '96-flat', '1')
well = plate[0]
pos = well.from_center(x=0, y=0, z=-1, reference=plate)
location = (plate, pos)
robot.poses = p300._move(robot.poses, x=x, y=y, z=z)
robot.calibrate_container_with_instrument(plate, p300, False)
p300.pick_up_tip()
p300.aspirate(100, location)
p300.dispense(100, location)
current_pos = pose_tracker.absolute(
robot.poses,
p300.instrument_actuator)
assert (current_pos == (1.5, 0.0, 0.0)).all()
current_pos = pose_tracker.absolute(robot.poses, p300)
assert isclose(current_pos, (161, 116.7, 10.5)).all()
def test_aspirate_move_to(old_aspiration):
# TODO: it seems like this test is checking that the aspirate point is
# TODO: *fully* at the bottom of the well, which isn't the expected
# TODO: behavior of aspirate when a location is not specified. This should
# TODO: be split into two tests--one for this behavior (specifying a place)
# TODO: and another one for the default
robot.reset()
tip_rack = containers_load(robot, 'tiprack-200ul', '3')
p300 = instruments.P300_Single(
mount='left', tip_racks=[tip_rack])
p300.pick_up_tip()
x, y, z = (161.0, 116.7, 0.0)
plate = containers_load(robot, '96-flat', '1')
well = plate[0]
pos = well.from_center(x=0, y=0, z=-1, reference=plate)
location = (plate, pos)
robot.poses = p300._move(robot.poses, x=x, y=y, z=z)
robot.calibrate_container_with_instrument(plate, p300, False)
p300.aspirate(100, location)
current_pos = pose_tracker.absolute(
robot.poses,
p300.instrument_actuator)
assert (current_pos == (6.889964, 0.0, 0.0)).all()
current_pos = pose_tracker.absolute(robot.poses, p300)
assert isclose(current_pos, (161, 116.7, 10.5)).all()
def test_pos_tracker_persistance(virtual_smoothie_env):
robot.reset()
p300 = instruments.P300_Single(mount='left')
plate = containers_load(robot, 'trough-12row', '5')
assert robot.max_placeable_height_on_deck(plate) == 40.0
robot.poses = p300._move(robot.poses, x=10, y=10, z=10)
robot.calibrate_container_with_instrument(plate, p300, save=False)
assert robot.max_placeable_height_on_deck(plate) == 10.0
def test_create_arc(virtual_smoothie_env):
from opentrons.legacy_api.robot.robot import (TIP_CLEARANCE_DECK,
TIP_CLEARANCE_LABWARE)
robot.reset()
p300 = instruments.P300_Single(mount='left')
plate = containers_load(robot, '96-flat', '1')
plate2 = containers_load(robot, '96-flat', '2')
new_labware_height = 10
robot.poses = p300._move(robot.poses, x=10, y=10, z=new_labware_height)
robot.calibrate_container_with_instrument(plate, p300, save=False)
trash_height = robot.max_placeable_height_on_deck(robot.fixed_trash)
assert robot.max_deck_height() == trash_height
res = robot._create_arc(p300, (0, 0, 0), plate[0])
arc_top = robot.max_deck_height() + TIP_CLEARANCE_DECK
expected = [
{'z': arc_top},
{'x': 0, 'y': 0},
{'z': 0}
]
assert res == expected
res = robot._create_arc(p300, (0, 0, 0), plate[1])
arc_top = robot.max_placeable_height_on_deck(plate) + TIP_CLEARANCE_LABWARE
expected = [
{'z': arc_top},
{'x': 0, 'y': 0},
{'z': 0}
]
assert res == expected
new_labware_height = 200
robot.poses = p300._move(robot.poses, x=10, y=10, z=new_labware_height)
robot.calibrate_container_with_instrument(plate2, p300, save=False)
assert robot.max_deck_height() == new_labware_height
res = robot._create_arc(p300, (0, 0, 0), plate2[0])
arc_top = p300._max_deck_height()
expected = [
{'z': arc_top},
{'x': 0, 'y': 0},
{'z': 0}
]
assert res == expected
def test_calibrate_labware(virtual_smoothie_env, monkeypatch):
import tempfile
temp = tempfile.mkdtemp()
monkeypatch.setenv('USER_DEFN_ROOT', temp)
robot.reset()
plate = labware.load('96-flat', '1')
pip = instruments.P300_Single(mount='right')
old_x, old_y, old_z = pose_tracker.absolute(robot.poses, plate[0])
pip.move_to(plate[0])
robot.poses = pip._jog(robot.poses, 'x', 1)
robot.poses = pip._jog(robot.poses, 'y', 2)
robot.poses = pip._jog(robot.poses, 'z', -3)
robot.calibrate_container_with_instrument(plate, pip, save=False)
new_pose = pose_tracker.absolute(robot.poses, plate[0])
assert isclose(new_pose, (old_x + 1, old_y + 2, old_z - 3)).all()
def test_calibrate_labware_new(
virtual_smoothie_env, split_labware_def):
robot.reset()
plate = labware.load('96-flat', '5')
pip = instruments.P300_Single(mount='right')
old_x, old_y, old_z = pose_tracker.absolute(robot.poses, plate[0])
pip.move_to(plate[0])
robot.poses = pip._jog(robot.poses, 'x', 1)
robot.poses = pip._jog(robot.poses, 'y', 2)
robot.poses = pip._jog(robot.poses, 'z', -3)
robot.calibrate_container_with_instrument(plate, pip, save=True)
new_pose = pose_tracker.absolute(robot.poses, plate[0])
assert isclose(new_pose, (old_x + 1, old_y + 2, old_z - 3)).all()
# Ensure that slot offset is removed and new offset file is picked up
plate2 = labware.load('96-flat', '1')
new_pose2 = pose_tracker.absolute(robot.poses, plate2[0])
assert isclose(new_pose2, (15.34, 76.24, 7.5)).all()