STARBackend: add 96-head capacitive LLD Z-probe#1094
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Tip-bottom-referenced 96-head cLLD search via the H0 ZL command, mirroring the single-channel cLLD probe. Resolves search bounds and speed/acceleration from `Head96Information`, formats the ZL wire fields per the head's firmware date (the 2008 and 2013 command sets differ), and returns the detected surface as a tip-bottom position. Guards on firmware tip presence, and when tip tracking is on also checks the corner channels feeding the selected sensor. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The lm=1 LLD channel's corner label was `A1 or B1`; it is `A1 or B2`. Update the `lld_sensor` literal, the sensor map, and the tip-tracker corner-check index (B2 is head96 index 9, not 1). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Integrate the ZL `zv` (upper-section / fast-approach speed) and `zw` (current protection limiter) parameters. `approach_speed` defaults to None, resolving to `head96_z_drive_speed_default`; `current_protection_limiter` validates against the firmware-dependent range (0-15 on 2013+, 0-7 on 2008) and is sent at the matching width. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Emit the ZL parameters in the documented field order (zh, zc, zi, zj, lm, gt, gl, zv, zl, zr, zw); the firmware tokenizes by field name so order is free, and the doc order is the clearer convention. Add tests for the assembled wire string (guarding the zc 5-digit width and the tip-overhang offset), the no-tip guard on both tip-length paths, and the Z-safety retract on firmware error. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The probe read the head's current Z (`RZ`) after the search, which reflects the
post-detection move (a default 2 mm retract), so the returned surface was off by
that move. Read `H0 RH` ("position of liquid surface found") instead - the head
counterpart of the channel `request_pip_height_last_lld` - via the new
`head96_request_height_last_lld`, which is latched and unaffected by the move.
The RH response parse mirrors RZ but is not yet hardware-confirmed (marked
TODO); the unit test mocks the read-back.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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| z_speed_min, z_speed_max = self._head96_information.z_speed_range | ||
| z_accel_min, z_accel_max = self._head96_information.z_acceleration_range | ||
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| if approach_speed is None: | ||
| approach_speed = self.head96_z_drive_speed_default | ||
| if not z_speed_min <= approach_speed <= z_speed_max: | ||
| raise ValueError( | ||
| f"approach_speed must be between {z_speed_min} - {z_speed_max} mm/sec, is {approach_speed}" | ||
| ) | ||
| if not z_speed_min <= speed <= z_speed_max: | ||
| raise ValueError(f"speed must be between {z_speed_min} - {z_speed_max} mm/sec, is {speed}") | ||
| if not z_accel_min <= acceleration <= z_accel_max: | ||
| raise ValueError( | ||
| f"acceleration must be between {z_accel_min} - {z_accel_max} mm/sec**2, is {acceleration}" | ||
| ) |
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maybe at some point we can abstract this now that many features use the same pattern
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Yes I agree, probably 2-3 more commands and we'll be able to see a nice abstraction to apply :)
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Adds
head96_probe_z_using_clld- a capacitive LLD (cLLD) liquid-surface probe for the 96-head, the head counterpart of the single-channelclld_probe_z_height_using_channel. It runs a downward cLLD search on the stop-disk Z drive (H0 ZL) and returns the detected surface as a tip-bottom Z height. Builds on #1086 (the stop-disk / tip-bottom Z reference pair) and #1088 (the per-drive speed/acceleration scoping).Positions are tip-bottom referenced like
head96_move_tool_z: the tip overhang (stop disk minus tip bottom, a rigid constant for the mounted tip) mapslowest_immers_posandstart_pos_searchto the firmware'szh/zc, and the return value maps the stopped position back to tip-bottom.tip_lenandapproach_speeddefault toNone, resolving to the measured tip length andhead96_z_drive_speed_default. A firmware error during the search retracts the head to Z-safety before re-raising.The
ZLwire format changed between the 2008 and 2013 firmware command sets - the 2013 set adds thelmsensor-selection field and widens the acceleration / current-limit fields - so the parameters are formatted per the head's reported firmware date, in the documented field order;lmselection requires 2013+ firmware.Validated on hardware: the cLLD search is accepted (
er00) acrosslmmodes. An earlier 6-digitzcfield width was rejected (er32) and is now 5 digits.Tests: the assembled wire string (guarding the
zcwidth and the tip-overhang offset), the no-tip guard on both tip-length paths, and the Z-safety retract on firmware error.