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[liquidhandler] single asp/disp: fix for rotated resources #326

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Merged
merged 2 commits into from
Dec 6, 2024
Merged

[liquidhandler] single asp/disp: fix for rotated resources #326

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c5bdc91
get centers of resource based on orientation
rickwierenga Dec 6, 2024
dfa6653
Merge branch 'main' into rot-single-asp-disp
rickwierenga Dec 6, 2024
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14 changes: 12 additions & 2 deletions pylabrobot/liquid_handling/liquid_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -784,7 +784,12 @@ async def aspirate(
resource = resources[0]
n = len(use_channels)
resources = [resource] * len(use_channels)
centers = list(reversed(resource.centers(yn=n, zn=0)))
if resource.get_absolute_rotation().z % 180 == 0:
centers = list(reversed(resource.centers(yn=n, zn=0)))
elif resource.get_absolute_rotation().z % 90 == 0:
centers = list(reversed(resource.centers(xn=n, zn=0)))
else:
raise ValueError("Only 90 and 180 degree rotations are supported for now.")
centers = [c - resource.center() for c in centers] # offset is wrt center
offsets = [c + o for c, o in zip(centers, offsets)] # user-defined

Expand Down Expand Up @@ -968,7 +973,12 @@ async def dispense(
resource = resources[0]
n = len(use_channels)
resources = [resource] * len(use_channels)
centers = list(reversed(resource.centers(yn=n, zn=0)))
if resource.get_absolute_rotation().z % 180 == 0:
centers = list(reversed(resource.centers(yn=n, zn=0)))
elif resource.get_absolute_rotation().z % 90 == 0:
centers = list(reversed(resource.centers(xn=n, zn=0)))
else:
raise ValueError("Only 90 and 180 degree rotations are supported for now.")
centers = [c - resource.center() for c in centers] # offset is wrt center
offsets = [c + o for c, o in zip(centers, offsets)] # user-defined

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