def __init__(self,
config,
xaxis=DEFAULT_XYZ_AXIS,
yaxis=DEFAULT_XYZ_AXIS,
zaxis=DEFAULT_XYZ_AXIS,
paxis=DEFAULT_P_AXIS,
saxis=DEFAULT_S_AXIS):
'''Initialize parts of robot'''
self.cmdMng = CommandManager.from_config(config)
self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'],
xaxis['max'])
self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'],
yaxis['max'])
self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'],
zaxis['max'])
self.xy = MultiAxis(self.x, self.y)
self.xyz = MultiAxis(self.x, self.y, self.z)
self.p = Pipette(
Axis(self.cmdMng.P, paxis['ul_per_step'], paxis['min'],
paxis['max']), paxis['min'], paxis['max'])
self.s = Shaker(self.cmdMng.S, saxis['deg_per_step'], saxis['min'],
saxis['max'])
'''Initialize arena'''
self.arena = self.arena_from_configfile()
self.tools = self.extract_dict_from_dict(self.arena, 'tools')
self.wellplates = self.extract_rack_from_dict(self.arena, 'wellplates')
if 'tipracks' in self.arena:
self.tipracks = self.extract_rack_from_dict(self.arena, 'tipracks')
'''Tracking parameters'''
self.liquid_height = 0
'''Home robot axes'''
self.home()
def __init__(self, config, xaxis=DEFAULT_XYZ_AXIS, yaxis=DEFAULT_XYZ_AXIS, zaxis=DEFAULT_XYZ_AXIS, p=DEFAULT_P_PARAMS):
'''Initialize parts of robot'''
self.cmdMng = CommandManager.from_config(config)
self.x = Axis(self.cmdMng.X, xaxis['mm_per_step'], xaxis['min'], xaxis['max'])
self.y = Axis(self.cmdMng.Y, yaxis['mm_per_step'], yaxis['min'], yaxis['max'])
self.z = Axis(self.cmdMng.Z, zaxis['mm_per_step'], zaxis['min'], zaxis['max'])
self.xy = MultiAxis(self.x, self.y)
self.xyz = MultiAxis(self.x, self.y, self.z)
#self.p = Pipette(p['ul_per_incr'], p['min'], p['max'])
self.p = Pipette.from_config(config)
def __init__(self, config, name):
self.mgr = CommandManager.from_config(config)
self.config = config
self._name = name
