def move_to(self, location, instrument=None, create_path=True, now=False):
placeable, coordinates = containers.unpack_location(location)
if instrument:
coordinates = instrument.calibrator.convert(
placeable,
coordinates)
else:
coordinates += placeable.coordinates(placeable.get_deck())
tallest_z = self._deck.max_dimensions(self._deck)[2][1][2]
tallest_z += 10
def _do():
if create_path:
self._driver.move_head(z=tallest_z)
self._driver.move_head(x=coordinates[0], y=coordinates[1])
self._driver.move_head(z=coordinates[2])
else:
self._driver.move_head(
x=coordinates[0],
y=coordinates[1],
z=coordinates[2]
)
if now:
_do()
else:
self.add_command(Command(do=_do))
def move_to_bottom(self, location, create_path=True, now=False):
placeable, _ = containers.unpack_location(location)
bottom_location = (placeable, placeable.from_center(x=0, y=0, z=-1))
return self.move_to(bottom_location, create_path)
def associate_placeable(self, location):
placeable, _ = containers.unpack_location(location)
if not self.placeables or (placeable != self.placeables[-1]):
self.placeables.append(placeable)
def move_to_top(self, location, instrument=None, create_path=True):
placeable, coordinates = containers.unpack_location(location)
top_location = (placeable, placeable.from_center(x=0, y=0, z=1))
self.move_to(top_location, instrument, create_path)