def aspirate_from_well(well, volume, z_change=0):
positions = [[0.5, "x"], [-0.5, "x"], [0.5, "y"], [-0.5, "y"]]
volume = int(volume / 5)
for it in range(5):
if it == 0:
pipette_300.aspirate(volume, ax_6.wells(well).top(z_change))
pipette_300.delay(seconds=2)
speed_set = {
'x': 100,
'y': 100,
'z': 20,
'a': 20,
'b': 10,
'c': 10
}
robot.head_speed(combined_speed=max(speed_set.values()),
**speed_set)
else:
pipette_300.move_to(ax_6.wells(well).top(z_change))
calibration_functions.jog_instrument(instrument=pipette_300,
distance=positions[it - 1][0],
axis=positions[it - 1][1],
robot=robot)
pipette_300.aspirate(volume)
pipette_300.delay(seconds=1)
speed_set = {'x': 300, 'y': 200, 'z': 75, 'a': 75, 'b': 25, 'c': 25}
robot.head_speed(combined_speed=max(speed_set.values()), **speed_set)
def jog(self, instrument, distance, axis):
inst = instrument._instrument
log.info('Jogging {} by {} in {}'.format(instrument.name, distance,
axis))
self._set_state('moving')
calibration_functions.jog_instrument(instrument=inst,
distance=distance,
axis=axis,
robot=inst.robot)
self._set_state('ready')
def jog(self, instrument, distance, axis):
inst = instrument._instrument
log.info('Jogging {} by {} in {}'.format(instrument.name, distance,
axis))
self._set_state('moving')
if ff.use_protocol_api_v2():
self._hardware.move_rel(Mount[inst.mount.upper()],
Point(**{axis: distance}))
else:
calibration_functions.jog_instrument(instrument=inst,
distance=distance,
axis=axis,
robot=inst.robot)
self._set_state('ready')
def jog(self, instrument, distance, axis):
inst = instrument._instrument
log.info('Jogging {} by {} in {}'.format(instrument.name, distance,
axis))
self._set_state('moving')
if instrument._context:
try:
self._hardware.move_rel(Mount[inst.mount.upper()],
Point(**{axis: distance}),
check_bounds=MotionChecks.HIGH)
except OutOfBoundsMove:
log.exception('Out of bounds jog')
else:
calibration_functions.jog_instrument(instrument=inst,
distance=distance,
axis=axis,
robot=inst.robot)
self._set_state('ready')
print(usetip(1))
if cal_offset == 1:
pipette_300.move_to(ax_6.wells("A1").top(10))
print("with offset")
else:
pipette_300.move_to(ax_6.wells("A1").top())
while True:
mov_dir = input("Select movement direction and step size: ")
mov_dir = mov_dir.split()
calibrate_end = bool(int(mov_dir[2]))
if calibrate_end == True:
break
else:
step_dir = str(mov_dir[0])
step_size = float(mov_dir[1])
calibration_functions.jog_instrument(instrument=pipette_300,distance=step_size,axis=step_dir,robot=robot)
if step_dir == "x":
offset[0] = offset[0] + step_size
elif step_dir == "y":
offset[1] = offset[1] + step_size
elif step_dir == "z":
offset[2] = offset[2] + step_size
if int(mov_dir[2]) > 1:
print("Not saving Calibration")
print("newline")
else:
if cal_offset == 1:
update_offset("ax6_5",False, offset[0], offset[1], offset[2]+10)
print("with offset")
