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STAR pipettes: probe containers for their liquid and their floor - #1336
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A caller could search one channel at a time, but could not hand over a set of containers and learn where the liquid stands in each, how much there is, or where each floor is. Nothing dealt the containers to the channels, batched them by X, or turned a detected deck height into a height above the container's cavity bottom. probe_liquid_heights deals containers to the channels in cycles, plans each cycle into batches, and runs every batch's cLLD or pLLD searches at once, reading the heights in one C0 RL per round. probe_liquid_volumes turns those heights into volumes by each container's own function, and probe_z_heights_using_ztouch z-touches each floor in a cascade. The simulator answers a batch search from the container it was given. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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A caller could search one channel at a time, but could not hand over a set of containers and learn where the liquid stands in each, how much there is, or where each floor is.
probe_liquid_heightsdeals the containers to the channels in cycles, plans each cycle into batches by X, and runs every batch's cLLD or pLLD searches at once, reading the heights in oneC0 RLper round. Heights are above each container's cavity bottom.probe_liquid_volumesturns those heights into volumes by each container's own function.probe_z_heights_using_ztouchtouches each floor, the channels setting offztouch_cascade_interval(0.25 s) apart from the back, searching toztouch_search_limit_below_cavity_bottom(1.0 mm) below each cavity bottom. A 50 uL tip is a warning.Tests: batching across channels and cycles, each detection mode, a plate rotated 90° with exact
ZLframes, offsets within a container, height-to-volume conversion, partial failure, the simulator batch.🤖 Generated with Claude Code