Prep pipettes: the container's profile as segments, from its height-volume data, from z_minimum up - #1370
Merged
Conversation
rickwierenga
added this pull request to stack #1374
September 25, 2026 12:42
rickwierenga
force-pushed
the
prep-container-segments
branch
3 times, most recently
from
September 25, 2026 13:12
a65010d to
99e6777
Compare
…olume data, from z_minimum up The segments sent for surface following were ten frustums sampled over a well's whole outer height from its cavity bottom, while the firmware counts segment 0 from z_minimum: the tip followed a profile shifted by that gap, and a container that was not a Well sent none. The profile now comes from the container's own height-volume data (one step per knot interval), else its functions in 0.5 mm steps, else its footprint as one cylinder over the cavity depth; it is cut to begin at z_minimum, and joined to at most the 9 segments the device has taken. The pipettes' and the 8-channel head's aspirate and dispense send these segments when auto_container_geometry is set. A surface following distance scales the areas so the tip sinks exactly that far; `aspirate` takes it next. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
rickwierenga
force-pushed
the
prep-container-segments
branch
from
September 25, 2026 13:18
99e6777 to
0380035
Compare
rickwierenga
removed this pull request from stack #1374
September 25, 2026 13:19
rickwierenga
added this pull request to stack #1375
September 25, 2026 13:19
rickwierenga
approved these changes
Sep 26, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
The container geometry the Prep sends with an aspirate or dispense covered Wells only, sampled as ten frustums over the whole well, and nothing for other containers.
_get_container_segmentsbuilds the profile for any container: one segment perheight_volume_datainterval, else 0.5 mm steps from its functions, else its footprint over the cavity; segments of equal area are joined down to at most 9, since the device refuses more; the profile starts atz_minimum, for the channels and the 8-channel head alike.auto_container_geometry=True.Tests: segments from data, from functions and from a footprint; the 9-segment cap; the head's profile.
🤖 Generated with Claude Code