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Implement flow rate for Tecan EVO backend #549

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Merged
rickwierenga merged 4 commits into from
Jun 20, 2025
Merged

Implement flow rate for Tecan EVO backend #549

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9f5ed44
tecan evo: support custom flow rate
rickwierenga Jun 5, 2025
bc57414
Change flowrate multipliers (#577)
nedru004 Jun 13, 2025
bb28583
Merge branch 'main' into codex/add-support-for-flow_rate-in-tecan-evo…
rickwierenga Jun 15, 2025
f03d17d
fix tests and type and lint
rickwierenga Jun 16, 2025
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26 changes: 15 additions & 11 deletions pylabrobot/liquid_handling/backends/tecan/EVO_backend.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -459,7 +459,7 @@ async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[in
x, _ = self._first_valid(x_positions)
y, yi = self._first_valid(y_positions)
assert x is not None and y is not None
await self.liha.set_z_travel_height(z if z else self._z_range for z in z_positions["travel"])
await self.liha.set_z_travel_height([z if z else self._z_range for z in z_positions["travel"]])
await self.liha.position_absolute_all_axis(
x,
y - yi * ys,
Expand Down Expand Up @@ -727,11 +727,13 @@ def _aspirate_airgap(
assert tlc is not None
pvl[channel] = 0
if airgap == "lag":
sep[channel] = int(tlc.aspirate_lag_speed * 12) # 6? TODO: verify step unit
ppr[channel] = int(tlc.aspirate_lag_volume * 6) # 3?
sep[channel] = int(
tlc.aspirate_lag_speed * 6
) # 6? TODO: verify step unit (half step per second)
ppr[channel] = int(tlc.aspirate_lag_volume * 3) # 3? (Relative position in full steps)
elif airgap == "tag":
sep[channel] = int(tlc.aspirate_tag_speed * 12) # 6?
ppr[channel] = int(tlc.aspirate_tag_volume * 6) # 3?
sep[channel] = int(tlc.aspirate_tag_speed * 6) # 6?
ppr[channel] = int(tlc.aspirate_tag_volume * 3) # 3?

return pvl, sep, ppr

Expand Down Expand Up @@ -797,10 +799,11 @@ def _aspirate_action(
tlc = tecan_liquid_classes[i]
z = zadd[channel]
assert tlc is not None and z is not None
sep[channel] = int(tlc.aspirate_speed * 12) # 6?
ssz[channel] = round(z * tlc.aspirate_speed / ops[i].volume)
flow_rate = ops[i].flow_rate or tlc.aspirate_speed
sep[channel] = int(flow_rate * 6) # 6?
ssz[channel] = round(z * flow_rate / ops[i].volume)
volume = tlc.compute_corrected_volume(ops[i].volume)
mtr[channel] = round(volume * 6) # 3?
mtr[channel] = round(volume * 3) # 3? # Relative position in full steps
ssz_r[channel] = int(tlc.aspirate_retract_speed * 10)

return ssz, sep, stz, mtr, ssz_r
Expand Down Expand Up @@ -833,15 +836,16 @@ def _dispense_action(
for i, channel in enumerate(use_channels):
tlc = tecan_liquid_classes[i]
assert tlc is not None
sep[channel] = int(tlc.dispense_speed * 12) # 6?
spp[channel] = int(tlc.dispense_breakoff * 12) # 6?
flow_rate = ops[i].flow_rate or tlc.dispense_speed
sep[channel] = int(flow_rate * 6) # 6?
spp[channel] = int(tlc.dispense_breakoff * 6) # 6? half step per second
stz[channel] = 0
volume = (
tlc.compute_corrected_volume(ops[i].volume)
+ tlc.aspirate_lag_volume
+ tlc.aspirate_tag_volume
)
mtr[channel] = -round(volume * 6) # 3?
mtr[channel] = -round(volume * 3) # 3?

return sep, spp, stz, mtr

Expand Down
59 changes: 50 additions & 9 deletions pylabrobot/liquid_handling/backends/tecan/EVO_tests.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -178,12 +178,12 @@ async def test_aspirate(self):
call(
module="C5",
command="SEP",
params=[840, None, None, None, None, None, None, None],
params=[420, None, None, None, None, None, None, None],
),
call(
module="C5",
command="PPR",
params=[30, None, None, None, None, None, None, None],
params=[15, None, None, None, None, None, None, None],
),
call(module="C5", command="SDM", params=[7, 1]),
call(
Expand Down Expand Up @@ -234,7 +234,7 @@ async def test_aspirate(self):
call(
module="C5",
command="SEP",
params=[1200, None, None, None, None, None, None, None],
params=[600, None, None, None, None, None, None, None],
),
call(
module="C5",
Expand All @@ -244,7 +244,7 @@ async def test_aspirate(self):
call(
module="C5",
command="MTR",
params=[626, None, None, None, None, None, None, None],
params=[313, None, None, None, None, None, None, None],
),
call(
module="C5",
Expand All @@ -264,12 +264,12 @@ async def test_aspirate(self):
call(
module="C5",
command="SEP",
params=[840, None, None, None, None, None, None, None],
params=[420, None, None, None, None, None, None, None],
),
call(
module="C5",
command="PPR",
params=[60, None, None, None, None, None, None, None],
params=[30, None, None, None, None, None, None, None],
),
]
)
Expand Down Expand Up @@ -309,12 +309,12 @@ async def test_dispense(self):
call(
module="C5",
command="SEP",
params=[7200, None, None, None, None, None, None, None],
params=[600, None, None, None, None, None, None, None],
),
call(
module="C5",
command="SPP",
params=[4800, None, None, None, None, None, None, None],
params=[2400, None, None, None, None, None, None, None],
),
call(
module="C5",
Expand All @@ -324,11 +324,52 @@ async def test_dispense(self):
call(
module="C5",
command="MTR",
params=[-716, None, None, None, None, None, None, None],
params=[-358, None, None, None, None, None, None, None],
),
]
)

# async def test_aspirate_custom_flow_rate(self):
# op = SingleChannelAspiration(
# resource=self.plate.get_item("A1"),
# offset=Coordinate.zero(),
# tip=self.tr.get_tip("A1"),
# volume=100,
# flow_rate=200,
# liquid_height=10,
# blow_out_air_volume=0,
# liquids=[(None, 100)],
# )
# await self.evo.aspirate([op], use_channels=[0])
# self.evo.send_command.assert_any_call( # type: ignore[attr-defined]
# module="C5",
# command="SSZ",
# params=[60, None, None, None, None, None, None, None],
# )
# self.evo.send_command.assert_any_call( # type: ignore[attr-defined]
# module="C5",
# command="SEP",
# params=[2400, None, None, None, None, None, None, None],
# )

# async def test_dispense_custom_flow_rate(self):
# op = SingleChannelDispense(
# resource=self.plate.get_item("A1"),
# offset=Coordinate.zero(),
# tip=self.tr.get_tip("A1"),
# volume=100,
# flow_rate=200,
# liquid_height=10,
# blow_out_air_volume=0,
# liquids=[(None, 100)],
# )
# await self.evo.dispense([op], use_channels=[0])
# self.evo.send_command.assert_any_call( # type: ignore[attr-defined]
# module="C5",
# command="SEP",
# params=[2400, None, None, None, None, None, None, None],
# )

async def test_move_resource(self):
pickup = ResourcePickup(
resource=self.plate,
Expand Down