puda-drivers 0.0.10__tar.gz → 0.0.11__tar.gz

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: puda-drivers
-Version: 0.0.10
+Version: 0.0.11
 Summary: Hardware drivers for the PUDA platform.
 Project-URL: Homepage, https://github.com/zhao-bears/puda-drivers
 Project-URL: Issues, https://github.com/zhao-bears/puda-drivers/issues
@@ -123,8 +123,8 @@ machine.camera.start_video_recording()
 
 # Perform liquid handling operations
 machine.attach_tip(slot="A3", well="G8")
-machine.aspirate_from(slot="C2", well="A1", amount=100)
-machine.dispense_to(slot="C2", well="B4", amount=100)
+machine.aspirate_from(slot="C2", well="A1", amount=100, height_from_bottom=10.0)
+machine.dispense_to(slot="C2", well="B4", amount=100, height_from_bottom=30.0)
 machine.drop_tip(slot="C1", well="A1")
 
 # Stop video recording

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/README.md

@@ -102,8 +102,8 @@ machine.camera.start_video_recording()
 
 # Perform liquid handling operations
 machine.attach_tip(slot="A3", well="G8")
-machine.aspirate_from(slot="C2", well="A1", amount=100)
-machine.dispense_to(slot="C2", well="B4", amount=100)
+machine.aspirate_from(slot="C2", well="A1", amount=100, height_from_bottom=10.0)
+machine.dispense_to(slot="C2", well="B4", amount=100, height_from_bottom=30.0)
 machine.drop_tip(slot="C1", well="A1")
 
 # Stop video recording

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "puda-drivers"
-version = "0.0.10"
+version = "0.0.11"
 description = "Hardware drivers for the PUDA platform."
 readme = "README.md"
 authors = [

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/src/puda_drivers/labware/polyelectric_8_wellplate_30000ul.json

@@ -30,7 +30,7 @@
     "dimensions": {
         "xDimension": 128,
         "yDimension": 85.5,
-        "zDimension": 74
+        "zDimension": 54
     },
     "wells": {
         "A1": {

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/src/puda_drivers/labware/trash_bin.json

@@ -11,7 +11,7 @@
   "dimensions": {
     "xDimension": 127.76,
     "yDimension": 85.48,
-    "zDimension": 20
+    "zDimension": 0
   },
   "wells": {
     "A1": {

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/src/puda_drivers/machines/first.py

@@ -185,14 +185,30 @@ class First:
         self.qubot.home(axis="Z")
         self._logger.debug("Z axis homed after tip attachment")
         
-    def drop_tip(self, slot: str, well: str):
-        """Drop a tip into a slot."""
+    def drop_tip(self, slot: str, well: str, height_from_bottom: float = 0.0):
+        """
+        Drop a tip into a slot.
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+            well: Well name within the slot (e.g., 'A1' for a well in a tiprack)
+            height_from_bottom: Height from the bottom of the well in mm. Defaults to 0.0.
+                               Positive values move up from the bottom. Negative values
+                               may cause a ValueError if the resulting position is outside
+                               the Z axis limits.
+        
+        Raises:
+            ValueError: If no tip is attached, or if the resulting position is outside
+                       the Z axis limits.
+        """
         if not self.pipette.is_tip_attached():
             self._logger.error("Cannot drop tip: no tip attached")
             raise ValueError("Tip not attached")
         
         self._logger.info("Dropping tip into slot '%s', well '%s'", slot, well)
         pos = self.get_absolute_z_position(slot, well)
+        # add height from bottom
+        pos += Position(z=height_from_bottom)
         # move up by the tip length
         pos += Position(z=self.TIP_LENGTH)
         self._logger.debug("Moving to position %s (adjusted for tip length) for tip drop", pos)
@@ -204,31 +220,67 @@ class First:
         self.pipette.set_tip_attached(attached=False)
         self._logger.info("Tip dropped successfully")
         
-    def aspirate_from(self, slot:str, well:str, amount:int):
-        """Aspirate a volume of liquid from a slot."""
+    def aspirate_from(self, slot:str, well:str, amount:int, height_from_bottom: float = 0.0):
+        """
+        Aspirate a volume of liquid from a slot.
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+            well: Well name within the slot (e.g., 'A1')
+            amount: Volume to aspirate in µL
+            height_from_bottom: Height from the bottom of the well in mm. Defaults to 0.0.
+                               Positive values move up from the bottom. Negative values
+                               may cause a ValueError if the resulting position is outside
+                               the Z axis limits.
+        
+        Raises:
+            ValueError: If no tip is attached, or if the resulting position is outside
+                       the Z axis limits.
+        """
         if not self.pipette.is_tip_attached():
             self._logger.error("Cannot aspirate: no tip attached")
             raise ValueError("Tip not attached")
         
         self._logger.info("Aspirating %d µL from slot '%s', well '%s'", amount, slot, well)
         pos = self.get_absolute_z_position(slot, well)
+        # add height from bottom
+        pos += Position(z=height_from_bottom)
         self._logger.debug("Moving Z axis to position %s", pos)
         self.qubot.move_absolute(position=pos)
+
         self._logger.debug("Aspirating %d µL", amount)
         self.pipette.aspirate(amount=amount)
         time.sleep(5)
         self._logger.info("Aspiration completed: %d µL from slot '%s', well '%s'", amount, slot, well)
         
-    def dispense_to(self, slot:str, well:str, amount:int):
-        """Dispense a volume of liquid to a slot."""
+    def dispense_to(self, slot:str, well:str, amount:int, height_from_bottom: float = 0.0):
+        """
+        Dispense a volume of liquid to a slot.
+        
+        Args:
+            slot: Slot name (e.g., 'A1', 'B2')
+            well: Well name within the slot (e.g., 'A1')
+            amount: Volume to dispense in µL
+            height_from_bottom: Height from the bottom of the well in mm. Defaults to 0.0.
+                               Positive values move up from the bottom. Negative values
+                               may cause a ValueError if the resulting position is outside
+                               the Z axis limits.
+        
+        Raises:
+            ValueError: If no tip is attached, or if the resulting position is outside
+                       the Z axis limits.
+        """
         if not self.pipette.is_tip_attached():
             self._logger.error("Cannot dispense: no tip attached")
             raise ValueError("Tip not attached")
         
         self._logger.info("Dispensing %d µL to slot '%s', well '%s'", amount, slot, well)
         pos = self.get_absolute_z_position(slot, well)
+        # add height from bottom
+        pos += Position(z=height_from_bottom)
         self._logger.debug("Moving Z axis to position %s", pos)
         self.qubot.move_absolute(position=pos)
+
         self._logger.debug("Dispensing %d µL", amount)
         self.pipette.dispense(amount=amount)
         time.sleep(5)
@@ -275,8 +327,7 @@ class First:
             # the deck is rotated 90 degrees clockwise for this machine
             pos += well_pos.swap_xy()
             # get z
-            z = Position(z=self.deck[slot].get_height() - self.CEILING_HEIGHT)
-            pos += z
+            pos += Position(z=self.deck[slot].get_height() - self.CEILING_HEIGHT)
             self._logger.debug("Absolute Z position for slot '%s', well '%s': %s", slot, well, pos)
         else:
             self._logger.debug("Absolute Z position for slot '%s': %s", slot, pos)

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/tests/first.py

@@ -40,8 +40,8 @@ if __name__ == "__main__":
     
     machine.camera.start_video_recording()
     machine.attach_tip(slot="A3", well="G8")
-    machine.aspirate_from(slot="C2", well="A1", amount=100)
-    machine.dispense_to(slot="C2", well="B4", amount=100)
+    machine.aspirate_from(slot="C2", well="A1", amount=100, height_from_bottom=10)
+    machine.dispense_to(slot="C2", well="B4", amount=100, height_from_bottom=50)
     machine.drop_tip(slot="C1", well="A1")
     
     # tiprack_wells = machine.deck["A3"].wells

{puda_drivers-0.0.10 → puda_drivers-0.0.11}/uv.lock

@@ -186,7 +186,7 @@ wheels = [
 
 [[package]]
 name = "puda-drivers"
-version = "0.0.10"
+version = "0.0.11"
 source = { editable = "." }
 dependencies = [
     { name = "opencv-python" },