diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR.py b/pylabrobot/liquid_handling/backends/hamilton/STAR.py index 0246aea188..4f83013826 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR.py @@ -4069,7 +4069,7 @@ async def get_core(self, p1: int, p2: int): if deck_size == STARLET_SIZE_X: xs = "07975" # 1360-797.5 = 562.5 elif deck_size == STAR_SIZE_X: - xs = "13375" # 1900-1337.5 = 562.5 + xs = "13385" # 1900-1337.5 = 562.5, plus a manual adjustment of + 10 else: raise ValueError(f"Deck size {deck_size} not supported") @@ -4078,8 +4078,8 @@ async def get_core(self, p1: int, p2: int): command="ZT", xs=xs, xd="0", - ya="1250", - yb="1070", + ya="1240", + yb="1065", pa=f"{p1:02}", pb=f"{p2:02}", tp="2350", @@ -4098,7 +4098,7 @@ async def put_core(self): if deck_size == STARLET_SIZE_X: xs = "07975" elif deck_size == STAR_SIZE_X: - xs = "13375" + xs = "13385" else: raise ValueError(f"Deck size {deck_size} not supported") command_output = await self.send_command( @@ -4106,8 +4106,8 @@ async def put_core(self): command="ZS", xs=xs, xd="0", - ya="1250", - yb="1070", + ya="1240", + yb="1065", tp="2150", tz="2050", th=int(self._traversal_height * 10), diff --git a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py index 8c563f754a..6078a9e65d 100644 --- a/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py +++ b/pylabrobot/liquid_handling/backends/hamilton/STAR_tests.py @@ -765,14 +765,14 @@ def test_serialize(self): async def test_move_core(self): await self.lh.move_plate(self.plate, self.plt_car[1], pickup_distance_from_top=13, use_arm="core") - self._assert_command_sent_once("C0ZTid0020xs07975xd0ya1250yb1070pa07pb08tp2350tz2250th2450tt14", + self._assert_command_sent_once("C0ZTid0020xs07975xd0ya1240yb1065pa07pb08tp2350tz2250th2450tt14", "xs#####xd#ya####yb####pa##pb##tp####tz####th####tt##") self._assert_command_sent_once("C0ZPid0021xs03475xd0yj1145yv0050zj1876zy0500yo0890yg0830yw15" "th2450te2450", "xs#####xd#yj####yv####zj####zy####yo####yg####yw##th####te####") self._assert_command_sent_once("C0ZRid0022xs03475xd0yj2105zj1876zi000zy0500yo0890th2450te2450", "xs#####xd#yj####zj####zi###zy####yo####th####te####") - self._assert_command_sent_once("C0ZSid0023xs07975xd0ya1250yb1070tp2150tz2050th2450te2450", + self._assert_command_sent_once("C0ZSid0023xs07975xd0ya1240yb1065tp2150tz2050th2450te2450", "xs#####xd#ya####yb####tp####tz####th####te####") async def test_iswap_pick_up_resource_grip_direction_changes_plate_width(self):