def setUp(self):
Robot.reset_for_tests()
self.robot = Robot.get_instance()
self.robot.reset()
self.robot.connect()
self.robot.home(enqueue=False)
def setUp(self):
Robot.reset_for_tests()
self.robot = Robot.get_instance()
self.robot.reset()
self.robot.connect()
self.robot.home(enqueue=False)
def setUp(self):
Robot.reset_for_tests()
self.robot = Robot.get_instance()
self.smoothie_version = 'edge-1c222d9NOMSD'
self.robot.reset()
self.robot.connect(options={'firmware': self.smoothie_version})
self.robot.home(enqueue=False)
def __init__(self, name=None, mosfet=0, container=None):
self.axis = 'M{}'.format(mosfet)
self.robot = Robot.get_instance()
self.robot.add_instrument(self.axis, self)
self.motor = self.robot.get_mosfet(mosfet)
if not name:
name = self.__class__.__name__
self.name = name
self.persisted_data = []
self.calibration_key = "{axis}:{instrument_name}".format(
axis=self.axis, instrument_name=self.name)
# a reference to the placeable set ontop the magbead module
self.container = container
self.engaged = False
persisted_key = '{axis}:{name}'.format(axis=self.axis, name=self.name)
self.init_calibrations(key=persisted_key)
self.load_persisted_data()
def __init__(self,
axis,
name=None,
channels=1,
min_volume=0,
max_volume=None,
trash_container=None,
tip_racks=[],
aspirate_speed=300,
dispense_speed=500):
self.axis = axis
self.channels = channels
if not name:
name = self.__class__.__name__
self.name = name
self.trash_container = trash_container
self.tip_racks = tip_racks
# default mm above tip to execute drop-tip
# this gives room for the drop-tip mechanism to work
self._drop_tip_offset = 15
self.reset_tip_tracking()
self.robot = Robot.get_instance()
self.robot.add_instrument(self.axis, self)
self.motor = self.robot.get_motor(self.axis)
self.placeables = []
self.previous_placeable = None
self.current_volume = 0
self.speeds = {'aspirate': aspirate_speed, 'dispense': dispense_speed}
self.min_volume = min_volume
self.max_volume = max_volume or (min_volume + 1)
self.positions = {
'top': None,
'bottom': None,
'blow_out': None,
'drop_tip': None
}
self.calibrated_positions = copy.deepcopy(self.positions)
self.calibration_data = {}
# Pipette properties to persist between sessions
persisted_attributes = ['calibration_data', 'positions', 'max_volume']
persisted_key = '{axis}:{name}'.format(axis=self.axis, name=self.name)
self.init_calibrations(key=persisted_key,
attributes=persisted_attributes)
self.load_persisted_data()
self.calibrator = Calibrator(self.robot._deck, self.calibration_data)
# if the user passed an initialization value,
# overwrite the loaded persisted data with it
if isinstance(max_volume, (int, float, complex)) and max_volume > 0:
self.max_volume = max_volume
self.update_calibrations()