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对laiyu移液站进行部分修改，取消多次初始化的问题

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zhangshixiang
2025-12-10 15:10:15 +08:00
parent 0d150f7acd
commit 896f287d92
3 changed files with 49 additions and 8 deletions
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8
unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py
View File

@@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
print("已有枪头，无需重复拾取")
return
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
# goback()
@@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
print("无枪头，无需丢弃")
return
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
self.hardware_interface.eject_tip
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
@@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
return
# 移动到吸液位置
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
@@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
# 移动到排液位置
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)

10
unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py
View File

@@ -128,6 +128,7 @@ class PipetteController:
baudrate=115200
)
self.pipette = SOPAPipette(self.config)
self.pipette_port = port
self.tip_status = TipStatus.NO_TIP
self.current_volume = 0.0
self.max_volume = 1000.0 # 默认1000ul
@@ -154,7 +155,7 @@ class PipetteController:
logger.info("移液器连接成功")
# 连接XYZ步进电机控制器（如果提供了端口）
if self.xyz_port:
if self.xyz_port != self.pipette_port:
try:
self.xyz_controller = XYZController(self.xyz_port)
if self.xyz_controller.connect():
@@ -168,7 +169,12 @@ class PipetteController:
self.xyz_controller = None
self.xyz_connected = False
else:
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
try:
self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
self.xyz_controller.serial_conn = self.pipette.serial_port
self.xyz_controller.is_connected = True
except Exception as e:
logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
return True
except Exception as e: