{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Y-probing\n",
    "\n",
    "With PyLabRobot, you can probe the y position of any object on a STAR(let) deck. See also [z probing](./z-probing) for doing the same in the z direction.\n",
    "\n",
    "```{warning}\n",
    "This example uses the teaching tips. These are metal tips that are not forgiving. Be particularly careful when moving the channels around to avoid collisions.\n",
    "```"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Example setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.liquid_handling import LiquidHandler, STARBackend\n",
    "from pylabrobot.resources import STARDeck  # or STARletDeck\n",
    "\n",
    "star = STARBackend()\n",
    "lh = LiquidHandler(backend=star, deck=STARDeck())\n",
    "await lh.setup()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Capacitive y-probing using cLLD\n",
    "\n",
    "If you are mapping a capacitive surface, you can use the cLLD sensor to detect the surface.\n",
    "\n",
    "```{warning}\n",
    "This example uses the teaching tips. These are metal tips that are not forgiving. Be particularly careful when moving the channels around to avoid collisions.\n",
    "```"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "teaching_tip = lh.deck.get_resource(\"teaching_tip_rack\")[\"A1\"]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.pick_up_tips(teaching_tip)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await star.prepare_for_manual_channel_operation(0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# TODO: change this to a position that works for you\n",
    "await star.move_channel_x(0, 500)\n",
    "await star.move_channel_y(0, 300)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Use `STARBackend.clld_probe_y_position_using_channel` to probe the y-position of a single point at the current xz plane. This function will slowly move the channel until the liquid level sensor detects a change in capacitance. The y-point of the point of the tip is then returned."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await star.clld_probe_y_position_using_channel(\n",
    "  channel_idx=0,\n",
    "  probing_direction=\"forward\",\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await star.clld_probe_y_position_using_channel(\n",
    "  channel_idx=0,\n",
    "  probing_direction=\"backward\",\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.return_tips()"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "env",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.15"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}