Expose iSWAP predefined Y/Z queries and drive-conversion helpers#1023
Merged
BioCam merged 24 commits intoPyLabRobot:mainfrom May 1, 2026
Merged
Conversation
Adds the absolute Z-axis sibling to `iswap_rotation_drive_move_x` (PyLabRobot#1018) and `iswap_rotation_drive_move_y` (PyLabRobot#1020). Wraps `R0 ZA` and accepts the rotation-drive plane Z (matching `iswap_rotation_drive_request_z`); the 13 mm offset to the gripper finger plane is applied internally. `acceleration` is exposed in mm/sec^2. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
PLR users expect left-front-bottom referencing; for channels this changes to center-center in x-y but in z people still expect bottom; since we are referencing the actual rotation drive here and its bottom is 13 mm above the finger_z_plane I have added a short comment to make this clearer
Contributor
There was a problem hiding this comment.
Pull request overview
Exposes additional iSWAP rotation-drive capabilities in the Hamilton STAR backend by adding predefined-position table queries for the Y/Z axes and adding/adjusting drive conversion constants/helpers to support iSWAP positioning.
Changes:
- Added iSWAP Y/Z drive conversion constants and helper conversion functions.
- Added EEPROM predefined-position table readers for iSWAP rotation-drive Y (
py) and Z (pz). - Added an absolute iSWAP rotation-drive Z move helper with bounds and parameter validation; updated
y_drive_mm_per_incrementprecision.
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
…ons' of https://github.com/BioCam/pylabrobot into expose-iswap_rotation_drive_request_predefined_z_positions
rickwierenga
reviewed
May 1, 2026
Comment on lines
+10196
to
+10197
| offset = STARBackend.iswap_rotation_drive_z_offset_above_finger_mm | ||
| to_mm = STARBackend.iswap_z_drive_increment_to_mm |
Member
There was a problem hiding this comment.
if we are gonna "define" a function, why not make it also add the offset
def to_rotation_drive_z(z_incr):
return STARBackend.iswap_z_drive_increment_to_mm(z_incr) + offset
Collaborator
Author
There was a problem hiding this comment.
I agreed with Claude on this one, because it made it easier to read - but I think you are right, and there are plenty of other easy to read solutions; changing now
BioCam
deleted the
expose-iswap_rotation_drive_request_predefined_z_positions
branch
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Tame the iSWAP - Part 9