pylabrobot.liquid_handling.backends.hamilton.STAR.STAR.iswap_rotate#

async STAR.iswap_rotate(position: int = 33, gripper_velocity: int = 55000, gripper_acceleration: int = 170, gripper_protection: Literal[0, 1, 2, 3, 4, 5, 6, 7] = 5, wrist_velocity: int = 48000, wrist_acceleration: int = 145, wrist_protection: Literal[0, 1, 2, 3, 4, 5, 6, 7] = 5)#

Rotate the iswap to a predifined position. Velocity units are “incr/sec” Acceleration units are “1_000 incr/sec**2” For a list of the possible positions see the pylabrobot documentation on the R0 module.

Parameters:

  • position (int)

  • gripper_velocity (int)

  • gripper_acceleration (int)

  • gripper_protection (Literal[0, 1, 2, 3, 4, 5, 6, 7])

  • wrist_velocity (int)

  • wrist_acceleration (int)

  • wrist_protection (Literal[0, 1, 2, 3, 4, 5, 6, 7])