open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-10 17:55:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

对laiyu移液站进行部分修改，取消多次初始化的问题

Browse Source
This commit is contained in:
zhangshixiang
2025-12-10 15:10:15 +08:00
parent 0d150f7acd
commit 896f287d92
3 changed files with 49 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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)