From b22a9d060b0eec89377fff928e287e977118d77d Mon Sep 17 00:00:00 2001 From: Rick Wierenga Date: Mon, 5 May 2025 14:19:37 -0700 Subject: [PATCH 1/2] STARBackend absolute iswap movements --- .../backends/hamilton/STAR_backend.py | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py index 2e788eedea..62bd9231fc 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py @@ -6375,6 +6375,30 @@ async def move_iswap_z_relative(self, step_size: float, allow_splitting: bool = return await self.send_command( module="C0", command="GZ", gz=str(round(abs(step_size) * 10)).zfill(3), zd=direction ) + + async def move_iswap_x(self, x_position: float): + """Move iSWAP X to absolute position""" + loc = await self.request_iswap_position() + await self.move_iswap_x_relative( + step_size=x_position - loc["xs"], + allow_splitting=True, + ) + + async def move_iswap_y(self, y_position: float): + """Move iSWAP Y to absolute position""" + loc = await self.request_iswap_position() + await self.move_iswap_y_relative( + step_size=y_position - loc["yj"], + allow_splitting=True, + ) + + async def move_iswap_z(self, z_position: float): + """Move iSWAP Z to absolute position""" + loc = await self.request_iswap_position() + await self.move_iswap_z_relative( + step_size=z_position - loc["zj"], + allow_splitting=True, + ) async def open_not_initialized_gripper(self): return await self.send_command(module="C0", command="GI") From 768a7d226ca41d9d058b6771bd124f5b0fbe1b29 Mon Sep 17 00:00:00 2001 From: Rick Wierenga Date: Mon, 5 May 2025 14:22:40 -0700 Subject: [PATCH 2/2] format --- pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py index 62bd9231fc..9893df9536 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py @@ -6375,7 +6375,7 @@ async def move_iswap_z_relative(self, step_size: float, allow_splitting: bool = return await self.send_command( module="C0", command="GZ", gz=str(round(abs(step_size) * 10)).zfill(3), zd=direction ) - + async def move_iswap_x(self, x_position: float): """Move iSWAP X to absolute position""" loc = await self.request_iswap_position() @@ -6391,7 +6391,7 @@ async def move_iswap_y(self, y_position: float): step_size=y_position - loc["yj"], allow_splitting=True, ) - + async def move_iswap_z(self, z_position: float): """Move iSWAP Z to absolute position""" loc = await self.request_iswap_position()