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Expose park_autoload_after in unload_carrier #754

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Merged
merged 1 commit into from
Nov 18, 2025
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Expose park_autoload_after in unload_carrier #754

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15 changes: 11 additions & 4 deletions pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6829,24 +6829,31 @@ async def park_autoload(self):

# TODO:(command:CA) Push out carrier to loading tray (after identification CI)

async def unload_carrier(self, carrier: Carrier):
async def unload_carrier(
self,
carrier: Carrier,
park_autoload_after: bool = True,
):
"""Use autoload to unload carrier."""
# Identify carrier end rail
track_width = 22.5
carrier_width = carrier.get_location_wrt(self.deck).x - 100 + carrier.get_absolute_size_x()
carrier_end_rail = int(carrier_width / track_width)

assert 1 <= carrier_end_rail <= 54, "carrier loading rail must be between 1 and 54"

carrier_end_rail_str = str(carrier_end_rail).zfill(2)

# Unload and read out barcodes
# Unload
resp = await self.send_command(
module="C0",
command="CR",
cp=carrier_end_rail_str,
)
# Park autoload
await self.park_autoload()

if park_autoload_after:
await self.park_autoload()

return resp

async def load_carrier(
Expand Down