Refactor tip racks #849
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Refactor tip racks #849
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- Add collar_height parameter to Tip.__init__, stored as _collar_height - Add collar_height property that raises ValueError if not defined - Update serializer to use custom deserialize method when available - Update HamiltonTip to pass collar_height to parent Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Add frame_height parameter to TipRack.__init__, stored as _frame_height - Add frame_height property that raises ValueError if not defined - Pass frame_height through EmbeddedTipRack to parent - Set frame_height=10.0 for hamilton_universal_rack Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- pick_up_tips: use collar_height instead of total_tip_length - drop_tips: use (total_tip_length - collar_height) for tip extension Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Update expected location z to account for sinking_depth (-6.1mm) - Update expected tp/tz values for collar_height-based formulas Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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Tests verify firmware command strings for 10, 50, 300, and 1000 uL tips: - 10uL: tp2224/tz2164 pickup, tp2224/tz2144 drop - 50uL: tp2244/tz2164 pickup, tp2244/tz2164 drop - 300uL: tp2244/tz2164 pickup, tp2244/tz2164 drop - 1000uL: tp2264/tz2164 pickup, tp2264/tz2184 drop Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Tests verify firmware command strings for 10, 50, 300, and 1000 uL tips: - 10uL: tp2224/tz2164 pickup, tp2025/tz1925 drop - 50uL: tp2244/tz2164 pickup, tp1840/tz1740 drop - 300uL: tp2244/tz2164 pickup, tp1745/tz1645 drop - 1000uL: tp2264/tz2164 pickup, tp1413/tz1313 drop Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Updated the hole depth (dz) from 7.52mm to 7.7mm which better matches the 1000uL tip geometry and eliminates the 0.18mm discrepancy in pickup/drop positions. Updated all STAR and Vantage tests accordingly. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Inline Z calculations into pick_up_tips and drop_tips - Validate all tips have same collar_height, fitting_depth, total_tip_length - Use NimbusTipType to determine per-tip offsets for machine-validated values - Tests assign tip racks at Z=-6.1mm (sinking_depth offset) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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long overdue remodeling of TipRacks
see forum thread for background: https://discuss.pylabrobot.org/t/revising-tipracks/71/
I will write some more information as we finalize work in this PR
high level:
EmbeddedTipRackandEmbeddedTipRackHolderper forum threadStandingTipRackper forum threadend_tip_pick_up_processat 0.2mm lower than 1000uL, and I believe 0.2mm lower than what it be. in any case, 10 and 1000uL tips should have the sameend_tip_pick_up_processcollar_heighttoHamiltonTip(for now), later to be moved toTiphamilton_universal_rack, because the hardware is just one identical piece for all tip racks, no matter which tips they contain