pylabrobot.lib.liquid_handling.tip_presence_probing.plan_tip_presence_probes#

pylabrobot.lib.liquid_handling.tip_presence_probing.plan_tip_presence_probes(tip_spots: List[TipSpot], use_channels: List[int]) → List[TipProbeBatch]#

Group the spots, one channel each, into pick-ups at one X, in ascending X.

The channels ride one arm, so spots at different X cannot be taken in one move. Each spot keeps the channel it was given. Planning does not change any tracker.

Parameters:

  • tip_spots (List[TipSpot]) – the spots to probe.

  • use_channels (List[int]) – the channel for each spot, 0-indexed from the back.

Returns:

The pick-ups, in ascending X.

Raises:

ValueError – If the lists differ in length, or a channel is given twice.

Return type:

List[TipProbeBatch]