def calibrate():
curr_container = get_selected_container()
if curr_container is not None:
rel_pos = curr_container.from_center(x=0,y=0,z=-1, reference=curr_container)
print('Current position: ' + str(robot._driver.get_head_position()['current']))
# currently only one instrument
robot.get_instruments()[0][1].calibrate_position((curr_container, rel_pos))
def test_load_pipettes():
# TODO Ian 2018-11-07 when `model` is dropped, delete its test case
test_cases = [
# deprecated case
{
"pipettes": {
"leftPipetteHere": {
"mount": "left",
"model": "p10_single_v1.3"
}
}
},
# future case
{
"pipettes": {
"leftPipetteHere": {
"mount": "left",
"name": "p10_single"
}
}
}
]
for data in test_cases:
robot.reset()
loaded_pipettes = execute_v1.load_pipettes(data)
robot_instruments = robot.get_instruments()
assert len(robot_instruments) == 1
mount, pipette = robot_instruments[0]
assert mount == 'left'
# loaded pipette in result dict should match that in robot_instruments
assert pipette == loaded_pipettes['leftPipetteHere']
def _get_all_pipettes():
robot = Robot.get_instance()
pipette_list = []
for _, p in robot.get_instruments():
if isinstance(p, instruments.Pipette):
pipette_list.append(p)
return sorted(pipette_list, key=lambda p: p.name.lower())
def get_instruments(robot):
return [{
'name': instr.name,
'axis': axis.lower(),
'channels': getattr(instr, 'channels', None),
'type': instr.__class__.__name__.lower(),
'min_volume': getattr(instr, 'min_volume', None),
'max_volume': getattr(instr, 'max_volume', None)
} for axis, instr in robot.get_instruments()]
def move_to_container():
curr_container = get_selected_container()
if curr_container is not None:
pipette = robot.get_instruments()[0][1]
robot.clear_commands()
# has default location based on slot even if not set
pipette.move_to(curr_container)
print(robot.commands())
robot.run()
coords = get_coords()
pos_str.set("x: " + str(coords.x) + "\ny: " + str(coords.y) + "\nz: " + str(coords.z))
def _fetch_or_create_pipette(mount, model=None):
existing_pipettes = robot.get_instruments()
pipette = None
for existing_mount, existing_pipette in existing_pipettes:
if existing_mount == mount:
pipette = existing_pipette
if pipette is None:
if model is None:
pipette = instruments.Pipette(mount=mount)
else:
config = pipette_config.load(model)
pipette = instruments._create_pipette_from_config(config=config,
mount=mount)
return pipette
def create_container_instance(name,
grid,
spacing,
diameter,
depth,
volume=0,
slot=None,
label=None,
Transposed=False):
from opentrons import robot
from opentrons.containers.placeable import Container, Well
if slot is None:
raise RuntimeError('"slot" argument is required.')
if label is None:
label = name
columns, rows = grid
col_spacing, row_spacing = spacing
custom_container = Container()
well_properties = {
'type': 'custom',
'diameter': diameter,
'height': depth,
'total-liquid-volume': volume
}
for r in range(rows):
for c in range(columns):
well = Well(properties=well_properties)
well_name = chr(c + ord('A')) + str(1 + r)
if Transposed:
coordinates = (r * col_spacing, c * row_spacing, 0)
else:
coordinates = (c * col_spacing, r * row_spacing, 0)
custom_container.add(well, well_name, coordinates)
# if a container is added to Deck AFTER a Pipette, the Pipette's
# Calibrator must update to include all children of Deck
for _, instr in robot.get_instruments():
if hasattr(instr, 'update_calibrator'):
instr.update_calibrator()
custom_container.properties['type'] = name
custom_container.get_name = lambda: label
# add to robot deck
robot.deck[slot].add(custom_container, label)
return custom_container
def test_load_pipettes():
robot.reset()
data = {
"pipettes": {
"leftPipetteHere": {
"mount": "left",
"model": "p10_single_v1"
}
}
}
loaded_pipettes = protocols.load_pipettes(data)
robot_instruments = robot.get_instruments()
assert len(robot_instruments) == 1
mount, pipette = robot_instruments[0]
assert mount == 'left'
# loaded pipette in result dict should match that in robot_instruments
assert pipette == loaded_pipettes['leftPipetteHere']
def test_load_pipettes():
data = {
"pipettes": {
"leftPipetteHere": {
"mount": "left",
"name": "p10_single"
}
}
}
robot.reset()
loaded_pipettes = execute_v3.load_pipettes(data)
robot_instruments = robot.get_instruments()
assert len(robot_instruments) == 1
mount, pipette = robot_instruments[0]
assert mount == 'left'
# loaded pipette in result dict should match that in robot_instruments
assert pipette == loaded_pipettes['leftPipetteHere']
def get_instruments(robot):
return [{
'name': instr.name,
'mount': axis.lower()
} for axis, instr in robot.get_instruments()]
# In[ ]:
print("================================ Setup recap ================================")
# ### Instruments
# In[ ]:
# list of (mount, instrument)
print("\nRecap Instruments")
print(robot.get_instruments())
# ### Containers
# In[ ]:
# List all containers on the deck
print("\nRecap containers")
for elt in robot.get_containers():
print("\t",elt.parent, elt)
# ### Reagents
