holypipette.devices.manipulator.manipulatorunit module

A class for access to a particular unit managed by a device. It is essentially a subset of a Manipulator

class holypipette.devices.manipulator.manipulatorunit.ManipulatorUnit(dev, axes)

Bases: Manipulator

absolute_move(x, axis=None)

Moves the device axis to position x in um.

Parameters:

• axis (axis number starting at 0; if None, all XYZ axes)

• x (target position in um.)

absolute_move_group(x, axes)

Moves the device group of axes to position x.

Parameters:

• axes (list of axis numbers)

• x (target position in um (vector or list).)

is_accessible(x, axis=None)

Checks whether position x is accessible.

THIS METHOD IS INCORRECT.

motor_ranges()

Runs the motors to calculate ranges of the motors.

DOESN’T WORK! DO NOT USE!

position(axis=None)

Current position along an axis.

Parameters:

axis (axis number starting at 0; if None, all XYZ axes)

Return type:

The current position of the device axis in um.

relative_move(x, axis=None)

Moves the device axis by relative amount x in um.

Parameters:

• axis (axis number starting at 0; if None, all XYZ axes)

• x (position shift in um.)

stop(axis=None)

Stop current movements.

wait_until_reached(position, axes=None, precision=0.5, timeout=10)

Waits until position is reached within precision, and raises an error if the target is not reached after the time out, unless the manipulator is still moving.

Parameters:

• position (target position in micrometer)

• axes (axis number of list of axis numbers)

• precision (precision in micrometer)

• timeout (time out in second)

wait_until_still(axes=None)

Waits for the motors to stop.