Start with labrobotClass

gui/labrobot.py

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+
+
+
+class LabPis:
+    """ Point in Lab Space | e.g. Point of a pipette tip"""
+    default_x = 0
+    default_y = 0
+    default_z = 0
+    default_e = 0       # e.g piston position
+    default_id = 0
+
+    def __init__(self, x=default_x,y=default_y,z=default_z,id=default_id,e=default_e):
+        self.x = x
+        self.y = y
+        self.z = z
+        self.e = e
+        self.id = id
+
+    def __str__(self) -> str:
+        return(f'<id= {self.id}|x={self.x}|y={self.y}|z={self.z}|e={self.e}>')
+
+class LabPip(LabPis):
+    default_vol = 1000      # pipette volume
+    default_top = 20        # piston top position
+    default_hub = 10        # piston max hub
+    default_fe = 2000       # speed piston
+
+    def __init__(self, x=LabPis.default_x, y=LabPis.default_y, z=LabPis.default_z, id=LabPis.default_id, e=LabPis.default_e,
+                vol=default_vol,hub=default_hub,fe=default_fe,top=default_top):
+        super().__init__(x=x, y=y, z=z, id=id, e=e)
+        self.vol = vol
+        self.fe = fe
+        self.hub = hub
+        self.top = top
+    
+    def __str__(self) -> str:
+        return super().__str__()[:-1]+f'|top={self.top}|hub={self.hub}|vol={self.vol}|fe={self.fe}>'
+
+    def sendE(self):
+        return f'<G1 P{self.e} F{self.fe}>\n'
+    
+    def sendXYZ(self):
+        return f'<G1 X{self.x} X{self.y} Z{self.z} F{self.fe}>\n'
+
+    def go_top(self):
+        self.e=self.top
+        return self.sendE() 
+
+    def get_tip(self,x,y,z):
+        self.x = x
+        self.y = y
+        self.z = z
+        return self.go_top() + self.sendXYZ()
+
+    def up(self):
+        self.z = 0
+        return self.sendXYZ()
+        
+
+
+
+#Job 100myl of A in Vial 1
+v1 = LabPis(200,200,100,21)
+a1 = LabPis(100,100,100,1)
+p1 = LabPis()
+
+
+pip = LabPip(vol=500)
+pip.fe =5000
+print(pip)
+print(pip.get_tip(150,150,50))
+print(pip.up())
+print(pip)