def tip_probe(self, instrument):
inst = instrument._instrument
log.info('Probing tip with {}'.format(instrument.name))
self._set_state('probing')
if ff.use_protocol_api_v2():
mount = Mount[instrument._instrument.mount.upper()]
assert instrument.tip_racks,\
'No known tipracks for {}'.format(instrument)
tip_length = inst._tip_length_for(
instrument.tip_racks[0]._container)
# TODO (tm, 2019-04-22): This warns "coroutine not awaited" in
# TODO: test. The test fixture probably needs to be modified to get
# TODO: a synchronous adapter instead of a raw hardware_control API
measured_center = self._hardware.locate_tip_probe_center(
mount, tip_length)
else:
measured_center = calibration_functions.probe_instrument(
instrument=inst, robot=inst.robot)
log.info('Measured probe top center: {0}'.format(measured_center))
if ff.use_protocol_api_v2():
self._hardware.update_instrument_offset(
Mount[instrument._instrument.mount.upper()],
from_tip_probe=measured_center)
config = self._hardware.config
else:
config = calibration_functions.update_instrument_config(
instrument=inst, measured_center=measured_center)
log.info('New config: {0}'.format(config))
self.move_to_front(instrument)
self._set_state('ready')
def probe(tip_length: float) -> str:
robot.reset()
pipette = instruments.Pipette(mount='right', channels=1)
probe_center = tuple(probe_instrument(
pipette, robot, tip_length=tip_length))
log.debug("Setting probe center to {}".format(probe_center))
robot.config = robot.config._replace(
probe_center=probe_center
)
return 'Tip probe'
def probe(self, move_after) -> str:
hw = self.hardware
mount = self._current_mount
if not feature_flags.use_protocol_api_v2():
probe_center = tuple(probe_instrument(self._pipettes[mount], hw))
else:
probe_center = hw.locate_tip_probe_center(mount)
_, _, cz = position(mount, hw, CriticalPoint.TIP)
# work around to prevent pipette tip crashing into tip box
# when moving from tip box -> other point on the deck
pt = types.Point(x=move_after[0], y=move_after[1], z=cz)
hw.move_to(mount, pt)
log.debug("Setting probe center to {}".format(probe_center))
hw.update_config(tip_probe=hw.config.tip_probe._replace(
center=probe_center))
return 'Tip probe'
def tip_probe(self, instrument):
inst = instrument._instrument
log.info('Probing tip with {}'.format(instrument.name))
self._set_state('probing')
measured_center = calibration_functions.probe_instrument(
instrument=inst, robot=inst.robot)
log.debug('Measured probe top center: {0}'.format(measured_center))
config = calibration_functions.update_instrument_config(
instrument=inst, measured_center=measured_center)
log.info('New config: {0}'.format(config))
calibration_functions.move_instrument_for_probing_prep(
inst, inst.robot)
self._set_state('ready')