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pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.core_check_resource_exists_at_location_center

pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.core_check_resource_exists_at_location_center#

async STAR.core_check_resource_exists_at_location_center(location: Coordinate, resource: Resource, gripper_y_margin: float = 5, offset: Coordinate = Coordinate(x=0, y=0, z=0), minimum_traverse_height_at_beginning_of_a_command: int = 2750, z_position_at_the_command_end: int = 2750, enable_recovery: bool = True, audio_feedback: bool = True) → bool#

Check existence of resource with CoRe gripper tool a “Get plate using CO-RE gripper” + error handling Which channels are used for resource check is dependent on which channels have been used for STAR.get_core(p1: int, p2: int) which is a prerequisite for this check function.

Parameters:

  • location (Coordinate) – Location to check for resource

  • resource (Resource) – Resource to check for.

  • resource – and the grippers during “bumping” / checking

  • offset (Coordinate) – Offset from resource position in mm.

  • minimum_traverse_height_at_beginning_of_a_command (int) – Minimum traverse height at beginning of a command [0.1mm] (refers to all channels independent of tip pattern parameter ‘tm’). Must be between 0 and 3600. Default 3600.

  • z_position_at_the_command_end (int) – Minimum z-Position at end of a command [0.1 mm] (refers to all channels independent of tip pattern parameter ‘tm’). Must be between 0 and 3600. Default 3600.

  • enable_recovery (bool) – if True will ask for user input if resource was not found

  • audio_feedback (bool) – enable controlling computer to emit different sounds when finding/not finding the resource

  • gripper_y_margin (float)

Returns:

bool – True if resource was found, False if resource was not found

Return type:

bool

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