{
 "cells": [
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   "source": [
    "# Using the 96 head\n",
    "\n",
    "![star supported](https://img.shields.io/badge/STAR-supported-blue)\n",
    "![Vantage supported](https://img.shields.io/badge/Vantage-supported-blue)\n",
    "![OT2 not supported](https://img.shields.io/badge/OT-not%20supported-red)\n",
    "![EVO not implemented](https://img.shields.io/badge/EVO-not%20implemented-orange)\n",
    "\n",
    "Some liquid handling robots have a 96 head, which can be used to pipette 96 samples at once. This notebook shows how to use the 96 head in PyLabRobot."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Example: Hamilton STARLet\n",
    "\n",
    "Here, we'll use a Hamilton STARLet as an example. For other robots, simply change the deck layout, makign sure that you have at least a tip rack and a plate to use."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.liquid_handling import LiquidHandler, STAR\n",
    "from pylabrobot.resources import STARLetDeck\n",
    "from pylabrobot.resources import (\n",
    "  TIP_CAR_480_A00,\n",
    "  PLT_CAR_L5AC_A00,\n",
    "  TIP_50ul,\n",
    "  Cor_96_wellplate_360ul_Fb\n",
    ")\n",
    "\n",
    "lh = LiquidHandler(backend=STAR(), deck=STARLetDeck())\n",
    "await lh.setup()\n",
    "\n",
    "# assign a tip rack\n",
    "tip_carrier = TIP_CAR_480_A00(name=\"tip_carrier\")\n",
    "tip_carrier[1] = tip_rack = TIP_50ul(name=\"tip_rack\")\n",
    "lh.deck.assign_child_resource(tip_carrier, rails=1)\n",
    "\n",
    "# assign a plate\n",
    "plt_carrier = PLT_CAR_L5AC_A00(name=\"plt_carrier\")\n",
    "plt_carrier[0] = plate = Cor_96_wellplate_360ul_Fb(name=\"plt\")\n",
    "lh.deck.assign_child_resource(plt_carrier, rails=7)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Liquid handling with the 96 head\n",
    "\n",
    "Liquid handling with the 96 head is very similar to what you would do with individual channels. The methods have `96` in their names, and they take `TipRack`s and `Plate`s as arguments, as opposed to `TipSpot`s and `Well`s in case of heads with individual pipetting channels."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.pick_up_tips96(tip_rack)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "For aspirations and dispenses, a single volume is passed.\n",
    "\n",
    "```{note}\n",
    "Only single-volume aspirations and dispenses are supported because all robots that are currently implemented only support single-volume operations. When we add support for robots that can do variable-volume, this will be updated.\n",
    "```"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.aspirate96(plate, volume=50)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.dispense96(plate, volume=50)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.return_tips96()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Quadrants\n",
    "\n",
    "96 heads can also be used to pipette quadrants of a 384 well plate. Here, we'll show how to do that.\n",
    "\n",
    "![quadrants](img/96head/quadrants.png)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pylabrobot.resources import BioRad_384_DWP_50uL_Vb\n",
    "plt_carrier[1] = plate384 = BioRad_384_DWP_50uL_Vb(name=\"plt384\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.pick_up_tips96(tip_rack)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.aspirate96(plate384.get_quadrant(1), volume=10)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.dispense96(plate384.get_quadrant(2), volume=10)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.aspirate96(plate384.get_quadrant(3), volume=10)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.dispense96(plate384.get_quadrant(4), volume=10)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [],
   "source": [
    "await lh.return_tips96()"
   ]
  }
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