refactor(api): add touch_tip, mix, air_gap, blow_out, return_tip. Add…

… TransferPlan Class. Closes #2242
Opentrons · Jan 11, 2019 · ffa8909 · ffa8909
1 parent 93b2d84
commit ffa8909
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Showing 8 changed files with 1,640 additions and 22 deletions.
diff --git a/api/docs/source/new_protocol_api.rst b/api/docs/source/new_protocol_api.rst
@@ -160,6 +160,8 @@ Robot and Pipette
 .. autoclass:: opentrons.protocol_api.contexts.InstrumentContext
    :members:
 
+.. autoclass:: opentrons.protocol_api.transfers.TransferOptions
+   :members:
 
 .. _protocol-api-labware:
 

diff --git a/api/src/opentrons/hardware_control/__init__.py b/api/src/opentrons/hardware_control/__init__.py
@@ -45,6 +45,10 @@ class MustHomeError(RuntimeError):
     pass
 
 
+class NoTipAttachedError(RuntimeError):
+    pass
+
+
 _Backend = Union[Controller, Simulator]
 Instruments = Dict[top_types.Mount, Optional[Pipette]]
 SHAKE_OFF_TIPS_SPEED = 50

diff --git a/api/src/opentrons/protocol_api/contexts.py b/api/src/opentrons/protocol_api/contexts.py
diff --git a/api/src/opentrons/protocol_api/labware.py b/api/src/opentrons/protocol_api/labware.py
@@ -28,6 +28,12 @@ class WellShape(Enum):
 
 
 class Well:
+    """
+    The Well class represents a  single well in a :py:class:`Labware`
+
+    It provides functions to return positions used in operations on the well
+    such as :py:meth:`top`, :py:meth:`bottom`
+    """
     def __init__(self, well_props: dict,
                  parent: Location,
                  display_name: str,
@@ -85,22 +91,22 @@ def has_tip(self) -> bool:
     def has_tip(self, value: bool):
         self._has_tip = value
 
-    def top(self) -> Location:
+    def top(self, z: float = 0.0) -> Location:
         """
         :return: a Point corresponding to the absolute position of the
         top-center of the well relative to the deck (with the front-left corner
         of slot 1 as (0,0,0))
         """
-        return Location(self._position, self)
+        return Location(self._position + Point(0, 0, z), self)
 
-    def bottom(self) -> Location:
+    def bottom(self, z: float = 0.0) -> Location:
         """
         :return: a Point corresponding to the absolute position of the
         bottom-center of the well (with the front-left corner of slot 1 as
         (0,0,0))
         """
         top = self.top()
-        bottom_z = top.point.z - self._depth
+        bottom_z = top.point.z - self._depth + z
         return Location(Point(x=top.point.x, y=top.point.y, z=bottom_z), self)
 
     def center(self) -> Location: