should work

frgpascal/hardware/calibrations/Hotplate1_calibration.yaml

@@ -1,16 +1,16 @@
 p0:
 - - 214.4
-  - 89.3
-  - 52.5
+  - 73.3
+  - 52.3
 - - 274.4
-  - 89.3
-  - 52.5
+  - 73.3
+  - 52.3
 - - 274.4
-  - 149.3
-  - 52.6
+  - 133.3
+  - 52.3
 - - 214.4
-  - 149.3
-  - 52.5
+  - 133.3
+  - 52.3
 p1:
 - - 0.0
   - 0.0

frgpascal/hardware/calibrations/Hotplate2_calibration.yaml

@@ -1,16 +1,16 @@
 p0:
 - - 214.2
   - 216.3
-  - 51.4
+  - 51.2
 - - 274.2
   - 216.3
-  - 51.7
+  - 51.2
 - - 274.2
   - 276.3
-  - 51.9
+  - 51.2
 - - 214.2
   - 276.3
-  - 51.7
+  - 51.2
 p1:
 - - 0.0
   - 0.0

frgpascal/hardware/calibrations/Tray1_calibration.yaml

@@ -1,16 +1,16 @@
 p0:
-- - 492.0
-  - 35.5
-  - 57.2
-- - 492.0
-  - 160.7
-  - 57.2
-- - 546.0
-  - 160.7
-  - 57.2
-- - 546.0
-  - 35.5
-  - 57.2
+- - 494.2
+  - 18.3
+  - 57.5
+- - 494.2
+  - 143.5
+  - 57.5
+- - 548.2
+  - 143.5
+  - 57.5
+- - 548.2
+  - 18.3
+  - 57.5
 p1:
 - - 0.0
   - 0.0

frgpascal/hardware/calibrations/Tray2_calibration.yaml

@@ -1,16 +1,16 @@
 p0:
-- - 405.1
-  - 35.5
-  - 57.1
-- - 405.1
-  - 160.7
-  - 57.1
-- - 459.1
-  - 160.7
-  - 57.1
-- - 459.1
-  - 35.5
-  - 57.1
+- - 407.3
+  - 19.9
+  - 57.6
+- - 407.3
+  - 145.1
+  - 57.6
+- - 461.3
+  - 145.1
+  - 57.6
+- - 461.3
+  - 19.9
+  - 57.6
 p1:
 - - 0.0
   - 0.0

frgpascal/hardware/calibrations/characterizationaxis_calibration.yaml

@@ -1,3 +1,3 @@
-- 562.1
-- 264.1
-- 52.3
+- 563.3
+- 247.7
+- 52.7

frgpascal/hardware/calibrations/spincoater_calibration.yaml

@@ -1,3 +1,3 @@
-- 0.6
-- 28.7
-- 54.3
+- 2.0
+- 11.5
+- 54.8

frgpascal/hardware/hardwareconstants.yaml

@@ -5,7 +5,7 @@ gantry:
   device_identifiers:
     vid: 7855 #vendor id, converted from hex to integer. WINDOWS ONLY can be determined by https://interworks.com/blog/ijahanshahi/2014/07/18/identify-vid-pid-usb-device/
     pid: 4 #product id, converted from hex to integer. WINDOWS ONLY. see link above
-    location: "1-1.1.1.2" #WINDOWS
+    location: "1-10" #WINDOWS
   pollingrate: 0.05 #delay (seconds) between sending a command and reading a response
   timeout: 15 #max time (seconds) allotted to gantry motion before flagging a movement error
 
@@ -102,6 +102,7 @@ liquidhandler:
     travel_slow: 4 #time to move if slow_travel active
     dispensedelay: 0.8 # time (seconds) between initiating a dispense command and the liquid beginning to hit the spincoating sample
     dispensedelay_slow: 1 #time to dispense *from staging position* if slow_travel active
+    droptipintotrash: 26 #time to drop a tip into the trash and reset the pipette to be ready for further instructions
   # dispense_delay: 1 
   # aspiration_delay: 22.5  # time (seconds) to perform an aspiration and stage the pipette
   # staging_delay: 1.5  # time (seconds) to move pipette into position for drop staging
@@ -117,9 +118,9 @@ spincoater:
   # communication
   device_identifiers: #for the arduino controlling the vacuum solenoid
     # serialid: #LINUX ONLY "558383339323513140D1" #hardware ID of spincoater arduino. Used to find correct COM port
-      vid: 9025 #WINDOWS ONLY
-      pid: 67 #WINDOWS ONLY
-      serial_number: '55838333932351108212'
+      vid: 2341 #WINDOWS ONLY
+      pid: 0043 #WINDOWS ONLY
+      serial_number: '95032303737351B01170'
   switchindex: "vacuumsolenoid" #key for switchbox relay that controls the vacuum solenoid (look at line ~32 in frgpascal.hardware.switchbox)
   communication_interval: 0.1 #delay (seconds) between communication to the odrive
   # movement
@@ -136,7 +137,7 @@ characterizationline:
     device_identifiers:
       vid: 7855 #WINDOWS ONLY
       pid: 4 #WINDOWS ONLY
-      location: "1-1.1.4" #WINDOWS + GANTRY ONLY
+      location: "1-1.3" #WINDOWS + GANTRY ONLY
     pollingrate: 0.05
     timeout: 20 #max time (seconds) to allow movement before flagging an error
     positiontolerance: 0.05 #tolerance (mm) for movements to be considered complete

frgpascal/hardware/liquidhandler.py

@@ -17,11 +17,12 @@
 tc = constants["timings"]
 
 
-def expected_timings(drop):
+def expected_timings(drop, drop_previous_tip=True):
     """Estimate the duration (seconds) liquid aspiration will require for a given drop
 
     Args:
         drop (dict): dictionary of drop parameters
+        drop_previous_tip (dict): whether the previous tip must be dropped prior to aspiration
 
     Returns:
         float: duration, in seconds
@@ -33,11 +34,12 @@ def expected_timings(drop):
     )  # overhead time for aspirate+dispense cycles to mix solution prior to final aspiration
     if drop["touch_tip"]:
         aspirate_duration += ac["touchtip"]
-    if drop["slow_retract"]:
-        aspirate_duration += ac["slowretract"]
-    if drop["air_gap"]:
-        aspirate_duration += ac["airgap"]
-
+    # if drop["slow_retract"]:
+    #     aspirate_duration += ac["slowretract"]
+    # if drop["air_gap"]:
+    #     aspirate_duration += ac["airgap"]
+    if drop_previous_tip:
+        aspirate_duration += tc["droptipintotrash"]
     if drop["slow_travel"]:
         staging_duration = tc["travel_slow"]
         dispense_duration = tc["dispensedelay_slow"]
@@ -146,19 +148,13 @@ def stage_antisolvent(
 
     def clear_chuck(self, taskid=None, nist_time=None, **kwargs):
         taskid = self.server.add_to_queue(
-            task="clear_chuck",
-            taskid=taskid,
-            nist_time=nist_time,
-            **kwargs,
+            task="clear_chuck", taskid=taskid, nist_time=nist_time, **kwargs,
         )
         return taskid
 
     def cleanup(self, taskid=None, nist_time=None, **kwargs):
         taskid = self.server.add_to_queue(
-            task="cleanup",
-            taskid=taskid,
-            nist_time=nist_time,
-            **kwargs,
+            task="cleanup", taskid=taskid, nist_time=nist_time, **kwargs,
         )
         return taskid