Expose STAR 96-head Y & Z movement with firmware-specific handling
#812
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Pull request overview
This PR exposes Y and Z movement controls for the 96-head pipettor with firmware-version-aware parameter validation. The implementation adds firmware version detection during setup and uses it to apply appropriate hardware limits for motor movement commands.
Key changes:
- Added firmware version detection and caching during 96-head initialization
- Implemented
move_96head_y()andmove_96head_z()methods with firmware-specific speed/acceleration limits - Added conversion utilities between mm and hardware increments for 96-head axes
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.
| File | Description |
|---|---|
| STAR_backend.py | Adds firmware version parsing, 96-head movement methods with version-aware validation, and unit conversion utilities |
| STAR_chatterbox.py | Updates mock backend to support firmware version detection and adds documentation for configuration methods |
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pylabrobot/liquid_handling/backends/hamilton/STAR_chatterbox.py
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
…s://github.com/BioCam/pylabrobot into STAR-96head-firmwareversion,-y--and-z-movement
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