def aspirate(self, volume=None, location=None, rate=1.0):
def _do_aspirate():
nonlocal volume
nonlocal location
if not isinstance(volume, (int, float, complex)):
if volume and not location:
location = volume
volume = self.max_volume - self.current_volume
if self.current_volume + volume > self.max_volume:
raise RuntimeWarning(
'Pipette cannot hold volume {}'
.format(self.current_volume + volume)
)
self.position_for_aspirate(location)
self.current_volume += volume
distance, _ = self.plunge_distance(self.current_volume)
destination = self.positions['bottom'] - distance
speed = self.speeds['aspirate'] * rate
self.plunger.speed(speed)
self.plunger.move(destination)
description = "Aspirating {0}uL at {1}".format(
volume,
(humanize_location(location) if location else '<In Place>')
)
self.robot.add_command(
Command(do=_do_aspirate, description=description))
return self
def dispense(self, volume=None, location=None, rate=1.0):
def _do():
nonlocal location
nonlocal volume
if not isinstance(volume, (int, float, complex)):
if volume and not location:
location = volume
volume = self.current_volume
if self.current_volume - volume < 0:
volume = self.current_volume
if location:
self.move_to(location, now=True)
if volume:
self.current_volume -= volume
distance, _ = self.plunge_distance(self.current_volume)
destination = self.positions['bottom'] - distance
speed = self.speeds['dispense'] * rate
self.plunger.speed(speed)
self.plunger.move(destination)
description = "Dispensing {0}uL at {1}".format(
volume,
(humanize_location(location) if location else '<In Place>')
)
self.robot.add_command(Command(do=_do, description=description))
return self
def blow_out(self, location=None):
def _do():
nonlocal location
if location:
self.move_to(location, now=True)
self.plunger.move(self.positions['blow_out'])
self.current_volume = 0
description = "Blow_out at {}".format(
humanize_location(location) if location else '<In Place>'
)
self.robot.add_command(Command(do=_do, description=description))
return self
def drop_tip(self, location=None):
def _do():
nonlocal location
if location:
self.go_to_bottom(location, now=True)
self.plunger.move(self.positions['drop_tip'])
self.plunger.home()
self.current_volume = 0
description = "Drop_tip at {}".format(
(humanize_location(location) if location else '<In Place>'))
self.robot.add_command(Command(do=_do, description=description))
return self
def pick_up_tip(self, location=None):
def _do():
nonlocal location
if location:
self.go_to_bottom(location, now=True)
# TODO: actual plunge depth for picking up a tip
# varies based on the tip
# right now it's accounted for via plunge depth
# TODO: Need to talk about containers z positioning
tip_plunge = 6
# Dip into tip and pull it up
for _ in range(3):
self.robot.move_head(z=-tip_plunge, mode='relative')
self.robot.move_head(z=tip_plunge, mode='relative')
self.robot.home('z')
description = "Picking up tip from {0}".format(
(humanize_location(location) if location else '<In Place>')
)
self.robot.add_command(Command(do=_do, description=description))
return self