def _get_plunger_position(self, position):
"""
Returns the calibrated coordinate of a given plunger position
Raises exception if the position has not been calibrated yet
"""
try:
value = self.positions[position]
if helpers.is_number(value):
return value
else:
raise RuntimeError(
'Plunger position "{}" not yet calibrated'.format(
position))
except KeyError:
raise RuntimeError(
'Plunger position "{}" does not exist'.format(position))
def load(robot, container_name, slot, label=None, share=False):
"""
Examples
--------
>>> from opentrons import containers
>>> containers.load('96-flat', '1')
<Deck>/<Slot 1>/<Container 96-flat>
>>> containers.load('96-flat', '4', 'plate')
<Deck>/<Slot 4>/<Container plate>
>>> containers.load('non-existent-type', '4') # doctest: +ELLIPSIS
Exception: Container type "non-existent-type" not found in file ...
"""
# OT-One users specify columns in the A1, B3 fashion
# below methods help convert to the 1, 2, etc integer names
def is_ot_one_slot_name(s):
return isinstance(s, str) and len(s) is 2 and s[0] in 'ABCD'
def convert_ot_one_slot_names(s):
col = 'ABCD'.index(slot[0])
row = int(slot[1]) - 1
slot_number = col + (row * robot.get_max_robot_cols()) + 1
warnings.warn('Changing deprecated slot name "{}" to "{}"'.format(
slot, slot_number))
return slot_number
if isinstance(slot, str):
# convert to integer
try:
slot = int(slot)
except (ValueError, TypeError):
if is_ot_one_slot_name(slot):
slot = convert_ot_one_slot_names(slot)
if helpers.is_number(slot):
# test that it is within correct range
if not (1 <= slot <= len(robot.deck)):
raise ValueError('Unknown slot: {}'.format(slot))
slot = str(slot)
return robot.add_container(container_name, slot, label, share)
def dispense(self,
volume=None,
location=None,
rate=1.0,
full_dispense: bool = False,
top_clearance=None,
bottom_clearance=None,
manual_liquid_volume_allowance=None):
if not helpers.is_number(volume): # recapitulate super
if volume and not location:
location = volume
volume = self._working_volume - self.current_volume
location = location if location else self.previous_placeable
well, _ = well_vector(location)
if top_clearance is None:
if tls.dispense_params_transfer:
top_clearance = tls.dispense_params_transfer.top_clearance_transfer
if top_clearance is None:
top_clearance = self.config.dispense.top_clearance
if bottom_clearance is None:
if tls.dispense_params_transfer:
bottom_clearance = tls.dispense_params_transfer.bottom_clearance_transfer
if bottom_clearance is None:
bottom_clearance = self.config.dispense.bottom_clearance
if manual_liquid_volume_allowance is None:
if tls.dispense_params_transfer:
manual_liquid_volume_allowance = tls.dispense_params_transfer.manual_manufacture_tolerance_transfer
if manual_liquid_volume_allowance is None:
manual_liquid_volume_allowance = self.config.dispense.manual_liquid_volume_allowance
if is_close(volume, self.current_volume
): # avoid finicky floating-point precision issues
volume = self.current_volume
location = self._adjust_location_to_liquid_top(
location=location,
aspirate_volume=None,
top_clearance=top_clearance,
bottom_clearance=bottom_clearance,
manual_liquid_volume_allowance=manual_liquid_volume_allowance)
with DispenseParams():
tls.dispense_params.full_dispense_from_dispense = full_dispense
def call_super():
super(EnhancedPipette, self).dispense(volume=volume,
location=location,
rate=rate)
self._update_pose_tree_in_place(call_super)
if tls.dispense_params.fully_dispensed:
assert self.current_volume == 0
if self.current_volume == 0:
pass # nothing to do: the next self._position_for_aspirate will reposition for us: 'if pipette is currently empty, ensure the plunger is at "bottom"'
else:
raise NotImplementedError
# track volume
well, __ = well_vector(location)
well.liquid_volume.dispense(volume)
def aspirate(self,
volume=None,
location=None,
rate: float = 1.0,
pre_wet: bool = None,
ms_pause: float = None,
top_clearance=None,
bottom_clearance=None,
manual_liquid_volume_allowance=None):
if not helpers.is_number(volume): # recapitulate super
if volume and not location:
location = volume
volume = self._working_volume - self.current_volume
location = location if location else self.previous_placeable
well, _ = well_vector(location)
if top_clearance is None:
if tls.aspirate_params_transfer:
top_clearance = tls.aspirate_params_transfer.top_clearance_transfer
if top_clearance is None:
top_clearance = self.config.aspirate.top_clearance
if bottom_clearance is None:
if tls.aspirate_params_transfer:
bottom_clearance = tls.aspirate_params_transfer.bottom_clearance_transfer
if bottom_clearance is None:
bottom_clearance = self.config.aspirate.bottom_clearance
if manual_liquid_volume_allowance is None:
if tls.aspirate_params_transfer:
manual_liquid_volume_allowance = tls.aspirate_params_transfer.manual_manufacture_tolerance_transfer
if manual_liquid_volume_allowance is None:
manual_liquid_volume_allowance = self.config.aspirate.manual_liquid_volume_allowance
current_liquid_volume = well.liquid_volume.current_volume_min
needed_liquid_volume = well.geometry.min_aspiratable_volume + volume
if current_liquid_volume < needed_liquid_volume:
msg = pretty.format(
'aspirating too much from well={0} have={1:n} need={2:n}',
well.get_name(), current_liquid_volume, needed_liquid_volume)
warn(msg)
self._pre_wet(well, volume, location, rate, pre_wet)
location = self._adjust_location_to_liquid_top(
location=location,
aspirate_volume=volume,
top_clearance=top_clearance,
bottom_clearance=bottom_clearance,
manual_liquid_volume_allowance=manual_liquid_volume_allowance)
def call_super():
super(EnhancedPipette, self).aspirate(volume=volume,
location=location,
rate=rate)
self._update_pose_tree_in_place(call_super)
self.pause_after_aspirate(ms_pause)
# finish up todo: what if we're doing an air gap
well, __ = well_vector(location)
well.liquid_volume.aspirate(volume)
if volume != 0:
self.prev_aspirated_well = well
def pick_up_tip(self, location=None, presses=3):
"""
Pick up a tip for the Pipette to run liquid-handling commands with
Notes
-----
A tip can be manually set by passing a `location`. If no location
is passed, the Pipette will pick up the next available tip in
it's `tip_racks` list (see :any:`Pipette`)
Parameters
----------
location : :any:`Placeable` or tuple(:any:`Placeable`, :any:`Vector`)
The :any:`Placeable` (:any:`Well`) to perform the pick_up_tip.
Can also be a tuple with first item :any:`Placeable`,
second item relative :any:`Vector`
Returns
-------
This instance of :class:`Pipette`.
Examples
--------
..
>>> robot.reset() # doctest: +ELLIPSIS
<opentrons.robot.robot.Robot object at ...>
>>> tiprack = containers.load('tiprack-200ul', 'A1')
>>> p200 = instruments.Pipette(axis='a', tip_racks=[tiprack])
>>> p200.pick_up_tip(tiprack[0]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> p200.return_tip() # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # `pick_up_tip` will automatically go to tiprack[1]
>>> p200.pick_up_tip() # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> p200.return_tip() # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
"""
if not location:
location = self.get_next_tip()
self.current_tip(None)
if location:
placeable, _ = unpack_location(location)
self.current_tip(placeable)
if isinstance(location, Placeable):
location = location.bottom()
_description = "Picking up tip {0}".format(
('from ' +
humanize_location(location) if location else '')) # NOQA
self.robot.add_command(_description)
presses = (1 if not helpers.is_number(presses) else presses)
self.motor.move(self._get_plunger_position('bottom'))
self.current_volume = 0
if location:
self.move_to(location, strategy='arc')
tip_plunge = 6
for i in range(int(presses) - 1):
self.robot.move_head(z=tip_plunge, mode='relative')
self.robot.move_head(z=-tip_plunge, mode='relative')
return self
def touch_tip(self, location=None, radius=1.0):
"""
Touch the :any:`Pipette` tip to the sides of a well,
with the intent of removing left-over droplets
Notes
-----
If no `location` is passed, the pipette will touch_tip
from it's current position.
Parameters
----------
location : :any:`Placeable` or tuple(:any:`Placeable`, :any:`Vector`)
The :any:`Placeable` (:any:`Well`) to perform the touch_tip.
Can also be a tuple with first item :any:`Placeable`,
second item relative :any:`Vector`
radius : float
Radius is a floating point number between 0.0 and 1.0, describing
the percentage of a well's radius. When radius=1.0,
:any:`touch_tip()` will move to 100% of the wells radius. When
radius=0.5, :any:`touch_tip()` will move to 50% of the wells
radius.
Returns
-------
This instance of :class:`Pipette`.
Examples
--------
..
>>> p200 = instruments.Pipette(name='p200', axis='a', max_volume=200)
>>> p200.aspirate(50, plate[0]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> p200.dispense(plate[1]).touch_tip() # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
"""
_description = 'Touching tip'
self.robot.add_command(_description)
height_offset = 0
if helpers.is_number(location):
height_offset = location
location = None
# if no location specified, use the previously
# associated placeable to get Well dimensions
if location:
self.move_to(location, strategy='arc')
else:
location = self.previous_placeable
v_offset = (0, 0, height_offset)
well_edges = [
location.from_center(x=radius, y=0, z=1), # right edge
location.from_center(x=radius * -1, y=0, z=1), # left edge
location.from_center(x=0, y=radius, z=1), # back edge
location.from_center(x=0, y=radius * -1, z=1) # front edge
]
# Apply vertical offset to well edges
well_edges = map(lambda x: x + v_offset, well_edges)
[self.move_to((location, e), strategy='direct') for e in well_edges]
return self
def dispense(self, volume=None, location=None, rate=1.0):
"""
Dispense a volume of liquid (in microliters/uL) using this pipette
Notes
-----
If no `location` is passed, the pipette will dispense
from it's current position. If no `volume` is passed,
`dispense` will default to it's `current_volume`
Parameters
----------
volume : int or float
The number of microliters to dispense
(Default: self.current_volume)
location : :any:`Placeable` or tuple(:any:`Placeable`, :any:`Vector`)
The :any:`Placeable` (:any:`Well`) to perform the dispense.
Can also be a tuple with first item :any:`Placeable`,
second item relative :any:`Vector`
rate : float
Set plunger speed for this dispense, where
speed = rate * dispense_speed (see :meth:`set_speed`)
Returns
-------
This instance of :class:`Pipette`.
Examples
--------
..
>>> p200 = instruments.Pipette(name='p200', axis='a', max_volume=200)
>>> # fill the pipette with liquid (200uL)
>>> p200.aspirate(plate[0]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # dispense 50uL to a Well
>>> p200.dispense(50, plate[0]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # dispense 50uL to the center of a well
>>> relative_vector = plate[1].center()
>>> p200.dispense(50, (plate[1], relative_vector)) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # dispense 20uL in place, at half the speed
>>> p200.dispense(20, rate=0.5) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # dispense the pipette's remaining volume (80uL) to a Well
>>> p200.dispense(plate[2]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
"""
if not helpers.is_number(volume):
if volume and not location:
location = volume
volume = self.current_volume
# Ensure we don't dispense more than the current volume
volume = min(self.current_volume, volume)
# if volume is specified as 0uL, then do nothing
if volume == 0:
return self
_description = "Dispensing {0} {1}".format(
volume,
('at ' + humanize_location(location) if location else '')) # NOQA
self.robot.add_command(_description)
self.move_to(location, strategy='arc') # position robot above location
# TODO(ahmed): revisit this
distance = self._plunge_distance(self.current_volume - volume)
bottom = self._get_plunger_position('bottom')
destination = bottom - distance
speed = self.speeds['dispense'] * rate
self.motor.speed(speed)
self.motor.move(destination)
self.current_volume -= volume # update after actual dispense
return self
def aspirate(self, volume=None, location=None, rate=1.0):
"""
Aspirate a volume of liquid (in microliters/uL) using this pipette
Notes
-----
If no `location` is passed, the pipette will aspirate
from it's current position. If no `volume` is passed,
`aspirate` will default to it's `max_volume`
Parameters
----------
volume : int or float
The number of microliters to aspirate (Default: self.max_volume)
location : :any:`Placeable` or tuple(:any:`Placeable`, :any:`Vector`)
The :any:`Placeable` (:any:`Well`) to perform the aspirate.
Can also be a tuple with first item :any:`Placeable`,
second item relative :any:`Vector`
rate : float
Set plunger speed for this aspirate, where
speed = rate * aspirate_speed (see :meth:`set_speed`)
Returns
-------
This instance of :class:`Pipette`.
Examples
--------
..
>>> p200 = instruments.Pipette(
... name='p200', axis='a', max_volume=200)
>>> # aspirate 50uL from a Well
>>> p200.aspirate(50, plate[0]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # aspirate 50uL from the center of a well
>>> p200.aspirate(50, plate[1].bottom()) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # aspirate 20uL in place, twice as fast
>>> p200.aspirate(20, rate=2.0) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
>>> # aspirate the pipette's remaining volume (80uL) from a Well
>>> p200.aspirate(plate[2]) # doctest: +ELLIPSIS
<opentrons.instruments.pipette.Pipette object at ...>
"""
# Note: volume positional argument may not be passed. if it isn't then
# assume the first positional argument is the location
if not helpers.is_number(volume):
if volume and not location:
location = volume
volume = self.max_volume - self.current_volume
# if volume is specified as 0uL, then do nothing
if volume == 0:
return self
if self.current_volume + volume > self.max_volume:
raise RuntimeWarning(
'Pipette with max volume of {0} cannot hold volume {1}'.format(
self.max_volume, self.current_volume + volume))
distance = self._plunge_distance(self.current_volume + volume)
bottom = self._get_plunger_position('bottom')
destination = bottom - distance
speed = self.speeds['aspirate'] * rate
_description = "Aspirating {0} {1}".format(
volume,
('at ' + humanize_location(location) if location else '')) # NOQA
self.robot.add_command(_description)
self._position_for_aspirate(location)
self.motor.speed(speed)
self.motor.move(destination)
self.current_volume += volume # update after actual aspirate
return self
