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park iswap before manual channel y movement #402

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Merged
merged 1 commit into from
Feb 13, 2025
Merged

park iswap before manual channel y movement #402

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4 changes: 4 additions & 0 deletions pylabrobot/liquid_handling/backends/hamilton/STAR.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3041,6 +3041,7 @@ async def move_channel_x(self, channel: int, x: float):
"""Move a channel in the x direction."""
await self.position_left_x_arm_(round(x * 10))

@need_iswap_parked
async def move_channel_y(self, channel: int, y: float):
"""Move a channel safely in the y direction."""

Expand Down Expand Up @@ -4935,6 +4936,7 @@ async def spread_pip_channels(self):

return await self.send_command(module="C0", command="JE")

@need_iswap_parked
async def move_all_pipetting_channels_to_defined_position(
self,
tip_pattern: bool = True,
Expand Down Expand Up @@ -4975,6 +4977,7 @@ async def move_all_pipetting_channels_to_defined_position(

# TODO:(command:JR): teach rack using pipetting channel n

@need_iswap_parked
async def position_max_free_y_for_n(self, pipetting_channel_index: int):
"""Position all pipetting channels so that there is maximum free Y range for channel n

Expand Down Expand Up @@ -7619,6 +7622,7 @@ async def get_channels_y_positions(self) -> Dict[int, float]:

return {channel_idx: y for channel_idx, y in enumerate(y_positions)}

@need_iswap_parked
async def position_channels_in_y_direction(self, ys: Dict[int, float], make_space=True):
"""position all channels simultaneously in the Y direction.

Expand Down