v1: PreciseFlex: move the arm family into a brooks.precise_flex package#1099
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…ackage Restructure only - no behaviour change. Moves the entire PreciseFlex arm family into a `brooks/precise_flex/` package, matching how pylabrobot organises other manufacturers as manufacturer/<device> packages (thermo_fisher/multidrop_combi, ufactory/xarm6, inheco/scila); the flat `brooks/` was the outlier. Every PreciseFlex arm (PF400, PF3400, and the c-series / direct-drive / rail variants) runs the same Guidance/TCS controller and shares the bulk of this driver, so the family lives in one package: separate device classes (`PreciseFlex400`, `PreciseFlex3400`, ...) over one `PreciseFlexArmBackend`, differing only in kinematics and gripper. Everything PreciseFlex moves in - the device classes/driver (`precise_flex`), `kinematics`, `confirmed_firmware_versions`, the controller modules (`tcs_modules`, `error_codes`, `data_ids`), the tests, and the notebook - because the PreciseFlex line is the only user of the Guidance/TCS controller. `brooks/` is left as the manufacturer namespace holding the one package. The package `__init__` re-exports the public classes, so `from pylabrobot.brooks.precise_flex import PreciseFlex400` and the `pylabrobot.brooks` exports are unchanged. Done as `git mv`, so history is preserved (the diff is renames + import-path updates + the new `__init__`). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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PreciseFlex: move the device into a brooks.precise_flex packagePreciseFlex: move the arm family into a brooks.precise_flex package
…reciseFlexError` `errors.py` is the codebase convention for a backend's error module - the Hamilton STAR `errors.py` holds both the error-code tables and the exception classes. This renames the PreciseFlex code-table module from `error_codes.py` to `errors.py` and moves `PreciseFlexError` (which reads `ERROR_CODES`) into it, so the table and the exception that consumes it live together. No behaviour change. The public import paths are unchanged: `PreciseFlexError` is still re-exported from the package `__init__` and remains importable from `precise_flex`. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Restructure only, no behaviour change. Moves the entire PreciseFlex arm family into a
brooks/precise_flex/package, matching how pylabrobot organises other manufacturers - manufacturer/<device>packages (thermo_fisher/multidrop_combi,ufactory/xarm6,inheco/scila). The flatbrooks/was the outlier.Why the family lives in one package: every PreciseFlex arm (PF400, PF3400, and the c-series / direct-drive / rail variants) runs the same Guidance/TCS controller and speaks the same GPL command protocol, DataIDs, and error codes, so they share the bulk of the driver. They are separate device classes (
PreciseFlex400,PreciseFlex3400, …) over onePreciseFlexArmBackend, differing only in kinematics (per geometry) and gripper - so grouping by the shared controller keeps that common driver in one place rather than duplicated per model.Everything PreciseFlex moves into the package - the device classes/driver (
precise_flex),kinematics,confirmed_firmware_versions, the controller modules (tcs_modules,errors,data_ids), the tests, and the notebook - because the PreciseFlex line is the only user of the Guidance/TCS controller.brooks/is left as the manufacturer namespace holding the one package; a future, genuinely different Brooks device family would get its own sibling package.The error module follows the codebase convention: like the Hamilton STAR
errors.py, which holds both the error-code tables and the exception classes, the PreciseFlex code-table module is namederrors.pyandPreciseFlexError(which readsERROR_CODES) lives in it, so the table and the exception that consumes it sit together.The package
__init__re-exports the public classes, sofrom pylabrobot.brooks.precise_flex import PreciseFlex400and thepylabrobot.brooksexports are unchanged - no call sites change.Done as
git mv, so history is preserved (the diff is renames + import-path updates + the new__init__).Tests: the existing PreciseFlex suite, unchanged, now at
pylabrobot/brooks/precise_flex/precise_flex_tests.py.🤖 Generated with Claude Code