platecrane_driver

A python-based driver and rest API for controlling the sciclops and Hudson Platecrane instruments.

Description

A repository for the Hudson Plate Stacker (Sciclops).

This package guides a user to remotely control the sciclops.

Sciclops is the main object for removing microplates from the stackers and placing them on the exchange platform.

Sciclops has 4 controllable axes and a gripper.

 

Z: Vertical axis
R: Base turning axis
Y: Extension axis
P: Gripper turning axis

 

Current Features

• Sciclops initialization
• Movements (move to preset points. ex: Neutral, Stack 1, etc.)
• Precise movements (move to certain point or certain distance)

Installation and Usage

Python

You'll need libusb installed (on debian-based linux: sudo apt install libusb-1.0-0-dev)

# Create a virtual environment named .venv
python -m venv .venv

# Activate the virtual environment on Linux or macOS
source .venv/bin/activate

# Alternatively, activate the virtual environment on Windows
# .venv\Scripts\activate

# Install the module and dependencies in the venv
pip install -e .

# Run the REST node for the Hudson Platecrane
python src/platecrane_rest_node.py --host 0.0.0.0 --port 2000

# Run the REST node for the Hudson Sciclops
python src/sciclops_rest_node.py --host 0.0.0.0 --port 2000

Docker

1. Install Docker for your platform of choice.
2. Run make init to create the .env file, or copy example.env to .env
3. Open the .env file and ensure that all values are set and correct.
   1. Check that the USER_ID and GROUP_ID are correct, as these ensure correct file permissions (in most cases, they should match your user's UID and GID)
   2. Check that the WEI_DATA_DIR and REDIS_DIR directories exist and have the appropriate permissions
   3. The DEVICE variable can be used to determine which USB serial device is used by the module

# Build and run just the module
docker compose up --build

# Run the module, but detach so you can keep working in the same terminal
docker compose up --build -d

# Run the module alongside a simple workcell (for testing)
docker compose -f wei.compose.yaml up --build -d

Installation

git clone https://github.com/AD-SDL/hudson_platecrane_module
cd hudson_platecrane_module
python setup.py install