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pierce_foil: decrease height diff from 20mm to 15mm #400

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Merged
rickwierenga merged 3 commits into from
Feb 13, 2025
+10 −2
Merged

pierce_foil: decrease height diff from 20mm to 15mm #400

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pierce_foil: decrease height diff from 20mm to 15mm
rickwierenga Feb 13, 2025
03de051
parameterize
rickwierenga Feb 13, 2025
c42ffa1
format
rickwierenga Feb 13, 2025
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12 changes: 10 additions & 2 deletions pylabrobot/liquid_handling/backends/hamilton/STAR.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7774,7 +7774,12 @@ async def pierce_foil(
)

async def step_off_foil(
self, well: Well, front_channel: int, back_channel: int, move_inwards: float = 2
self,
well: Well,
front_channel: int,
back_channel: int,
move_inwards: float = 2,
move_height: float = 15,
):
"""
Hold down a plate by placing two channels on the edges of a plate that is sealed with foil
Expand All @@ -7800,6 +7805,7 @@ async def step_off_foil(
front_channel: The channel to place on the front of the plate.
back_channel: The channel to place on the back of the plate.
move_inwards: mm to move inwards (backward on the front channel; frontward on the back).
move_height: mm to move upwards after piercing the foil. front_channel and back_channel will hold the plate down.
"""

if front_channel <= back_channel:
Expand Down Expand Up @@ -7828,7 +7834,9 @@ async def step_off_foil(
zs = await self.get_channels_z_positions()
indices = [channel_idx for channel_idx, z in zs.items() if z < front_location.z]
idx = {
idx: front_location.z + 20 for idx in indices if idx not in (front_channel, back_channel)
idx: front_location.z + move_height
for idx in indices
if idx not in (front_channel, back_channel)
}
await self.position_channels_in_z_direction(idx)

Expand Down