feat(hardware-testing): Flex protocol to fill diluent for 96ch photom…

…etric test (#14320)

hardware-testing/hardware_testing/protocols/flex_diluent_for_96ch.py

@@ -0,0 +1,238 @@
+"""Flex: Diluent for 96ch.."""
+from math import pi
+from typing import List, Optional, Dict, Tuple
+
+from opentrons.protocol_api import ProtocolContext, InstrumentContext, Labware
+
+##############################################
+#                EDIT - START                #
+##############################################
+
+metadata = {"protocolName": "Flex: Diluent for 96ch"}
+requirements = {"robotType": "Flex", "apiLevel": "2.15"}
+
+RETURN_TIP = False
+
+DILUENT_VOLUME = 195
+DILUENT_PUSH_OUT = 15
+DILUENT_SOURCES = [
+    {
+        "source": "A1",
+        "destinations": ["A1", "A2", "A3", "A4", "A5", "A6"],
+    },
+    {
+        "source": "A2",
+        "destinations": ["A7", "A8", "A9", "A10", "A11", "A12"],
+    },
+]
+
+##############################################
+#                 EDIT - END                 #
+##############################################
+
+SUBMERGE_MM = {
+    "aspirate": 3.0,
+    "dispense": 1.0,
+}
+RETRACT_MM = 5.0
+MIN_MM_FROM_BOTTOM = 1.0
+
+TOUCH_TIP_SPEED = 30
+TOUCH_TIP_DEPTH = -1
+
+DELAY_ASPIRATE = 1.0
+DELAY_DISPENSE = 0.5
+
+MIN_VOL_SRC = {
+    "nest_96_wellplate_2ml_deep": 500,
+    "nest_12_reservoir_15ml": 3000,
+    "nest_1_reservoir_195ml": 30000,
+}
+
+
+class _LiquidHeightInFlatBottomWell:
+    def __init__(
+        self,
+        bottom_diameter: float,
+        top_diameter: float,
+        height: float,
+        resolution_mm: float = 0.1,
+    ) -> None:
+        self._bottom_radius = bottom_diameter / 2
+        self._top_radius = top_diameter / 2
+        self._height = height
+        self._resolution_mm = resolution_mm
+
+    def _volume_of_frustum(self, surface_height: float, surface_radius: float) -> float:
+        """Calculate the volume of a frustum given its height and radii."""
+        a = pi * self._bottom_radius * surface_radius
+        b = pi * surface_radius**2
+        c = pi * self._bottom_radius**2
+        return (a + b + c) * (surface_height / 3)
+
+    def height_from_volume(self, volume: float) -> float:
+        """Given the volume, compute the height of the liquid in the well."""
+        _rad_diff = self._top_radius - self._bottom_radius
+        low, high = 0.0, self._height
+        while high - low > self._resolution_mm:
+            mid = (low + high) / 2
+            r_mid = self._bottom_radius + (mid / self._height) * _rad_diff
+            if self._volume_of_frustum(mid, r_mid) < volume:
+                low = mid
+            else:
+                high = mid
+        return (low + high) / 2
+
+    def volume_from_height(self, height: float) -> float:
+        """Given the height, compute the volume of the liquid in the well."""
+        _rel_height = height / self._height
+        _rad_diff = self._top_radius - self._bottom_radius
+        surface_radius = self._bottom_radius + _rad_diff * _rel_height
+        return self._volume_of_frustum(height, surface_radius)
+
+
+LIQUID_HEIGHT_LOOKUP: Dict[str, List[Tuple[float, float]]] = {
+    "nest_12_reservoir_15ml": [
+        (0, 0),
+        (3000, 6.0),
+        (3500, 7.0),
+        (4000, 8.0),
+        (5500, 10.5),
+        (8000, 14.7),
+        (10000, 18.0),
+        (12600, 22.5),
+        (15000, 26.85),  # full depth of well
+    ],
+}
+
+
+def _convert_ul_in_well_to_height_in_well(load_name: str, ul: float) -> float:
+    if load_name in LIQUID_HEIGHT_LOOKUP:
+        lookup = LIQUID_HEIGHT_LOOKUP[load_name]
+        for i in range(len(lookup) - 1):
+            low = lookup[i]
+            high = lookup[i + 1]
+            if low[0] <= ul <= high[0]:
+                ul_scale = (ul - low[0]) / (high[0] - low[0])
+                return (ul_scale * (high[1] - low[1])) + low[1]
+    elif load_name == "corning_96_wellplate_360ul_flat":
+        well = _LiquidHeightInFlatBottomWell(
+            bottom_diameter=6.35, top_diameter=6.858, height=10.668
+        )
+        return well.height_from_volume(ul)
+    raise ValueError(f"unable to find height of {ul} ul in {load_name}")
+
+
+def _start_volumes_per_trial(
+    volume: float, load_name: str, channels: int, trials: int
+) -> List[float]:
+    ul_per_aspirate = volume * channels
+    ul_per_run = ul_per_aspirate * trials
+    ul_at_start = ul_per_run + MIN_VOL_SRC[load_name]
+    return [ul_at_start - (ul_per_aspirate * i) for i in range(trials)]
+
+
+def _end_volumes_per_trial(
+    volume: float, load_name: str, channels: int, trials: int
+) -> List[float]:
+    return [
+        ul - (volume * channels)
+        for ul in _start_volumes_per_trial(volume, load_name, channels, trials)
+    ]
+
+
+def _assign_starting_volumes(
+    ctx: ProtocolContext,
+    pipette: InstrumentContext,
+    reservoir: Labware,
+) -> None:
+    diluent = ctx.define_liquid(
+        name="Diluent",
+        description="Artel MVS Diluent",
+        display_color="#0000FF",
+    )
+    for test in DILUENT_SOURCES:
+        src_ul_per_trial = _start_volumes_per_trial(
+            DILUENT_VOLUME,
+            reservoir.load_name,
+            pipette.channels,
+            len(test["destinations"]),
+        )
+        first_trial_ul = src_ul_per_trial[0]
+        reservoir[str(test["source"])].load_liquid(diluent, first_trial_ul)
+
+
+def _transfer(
+    ctx: ProtocolContext,
+    volume: float,
+    pipette: InstrumentContext,
+    reservoir: Labware,
+    plate: Labware,
+    source: str,
+    destinations: List[str],
+    push_out: Optional[float] = None,
+    touch_tip: bool = False,
+    volume_already_in_plate: float = 0,
+) -> None:
+    end_volumes = _end_volumes_per_trial(
+        volume, reservoir.load_name, pipette.channels, len(destinations)
+    )
+    src_heights = [
+        _convert_ul_in_well_to_height_in_well(reservoir.load_name, ul)
+        for ul in end_volumes
+    ]
+    volume_in_plate = volume + volume_already_in_plate
+    dst_height = _convert_ul_in_well_to_height_in_well(plate.load_name, volume_in_plate)
+    for dst_name, height_src in zip(destinations, src_heights):
+        # calculate pipetting positions
+        aspirate_pos = reservoir[source].bottom(
+            max(height_src - SUBMERGE_MM["aspirate"], MIN_MM_FROM_BOTTOM)
+        )
+        dispense_pos = plate[dst_name].bottom(
+            max(dst_height - SUBMERGE_MM["dispense"], MIN_MM_FROM_BOTTOM)
+        )
+        blow_out_pos = plate[dst_name].bottom(
+            max(dst_height + RETRACT_MM, MIN_MM_FROM_BOTTOM)
+        )
+        # transfer
+        if pipette.current_volume > 0:
+            pipette.dispense(pipette.current_volume, reservoir[source].top())
+        pipette.aspirate(volume, aspirate_pos)
+        ctx.delay(seconds=DELAY_ASPIRATE)
+        pipette.dispense(volume, dispense_pos, push_out=push_out)
+        ctx.delay(seconds=DELAY_DISPENSE)
+        pipette.blow_out(blow_out_pos)
+        if touch_tip:
+            pipette.touch_tip(speed=TOUCH_TIP_SPEED, v_offset=TOUCH_TIP_DEPTH)
+        pipette.aspirate(1, blow_out_pos)  # trailing air-gap to avoid droplets
+
+
+def run(ctx: ProtocolContext) -> None:
+    """Run."""
+    tips = ctx.load_labware("opentrons_flex_96_tiprack_200uL", "B2")
+    reservoir = ctx.load_labware("nest_12_reservoir_15ml", "C2")
+    plate = ctx.load_labware("corning_96_wellplate_360ul_flat", "D2")
+    pipette = ctx.load_instrument("flex_8channel_1000", "left", tip_racks=[tips])
+    _assign_starting_volumes(ctx, pipette, reservoir)
+    for i in range(12):
+        pipette.configure_for_volume(DILUENT_VOLUME)
+        pipette.pick_up_tip()
+        for test in DILUENT_SOURCES:
+            _transfer(
+                ctx,
+                DILUENT_VOLUME,
+                pipette,
+                reservoir,
+                plate,
+                test["source"],  # type: ignore[arg-type]
+                test["destinations"],  # type: ignore[arg-type]
+                push_out=DILUENT_PUSH_OUT,
+                touch_tip=True,
+                volume_already_in_plate=0,
+            )
+        if RETURN_TIP:
+            pipette.return_tip()
+        else:
+            pipette.drop_tip()
+        if i < 11:
+            ctx.pause("refresh Diluent to start volumes, and add new Plate")