pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.request_iswap_wrist_drive_orientation#

async STAR.request_iswap_wrist_drive_orientation() → WristDriveOrientation#

Request the iSWAP wrist drive orientation. This is the orientation of the iSWAP wrist drive (always in relation to the iSWAP arm/rotation drive).

e.g.: 1) iSWAP RotationDriveOrientation.FRONT (i.e. pointing to the front of the machine) + iSWAP WristDriveOrientation.STRAIGHT (i.e. wrist is also pointing to the front)

  1. iSWAP RotationDriveOrientation.LEFT (i.e. pointing to the left of the machine) + iSWAP WristDriveOrientation.STRAIGHT (i.e. wrist is also pointing to the left)

  2. iSWAP RotationDriveOrientation.FRONT (i.e. pointing to the front of the machine) + iSWAP WristDriveOrientation.RIGHT (i.e. wrist is pointing to the left !)

The relative wrist orientation is reported as a motor position increment by the STAR firmware. This value is mapped to a WristDriveOrientation enum member.

Returns:

WristDriveOrientation – The interpreted wrist orientation (e.g., RIGHT, STRAIGHT, LEFT, REVERSE).

Return type:

WristDriveOrientation