STARBackend: consolidate 96-head limits and resolutions into Head96Information#1084
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…ormation Head96Information now carries the firmware/variant-derived 96-head limits, in standard units, as (min, max) range tuples: aspiration_volume_range (uL), dispensing_drive_speed_range (uL/s), and z_range (mm). Each is resolved at setup by a dedicated _head96_resolve_*_range method (grouped with the other Head96Information gatherers) that branches on fw_version.year (2008->2013 volume/speed widening, matching head96_move_z's boundary) and instrument_type (FM-STAR's extended Z window), converting firmware increments to units via the existing converters. Populated in set_up_core96_head and the chatterbox. Increments remain recomputable from the record on demand. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The minimum dispensing-drive speed increment in _head96_resolve_dispensing_drive_speed_range was a bare literal 5; give it a named local (min_inc) with its firmware meaning. Also clarify the z_range docstring (za/zb/zh share the FM-STAR-extended Z window, per the H0 command set). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Replace head96_move_z's hardcoded [180.5, 342.5] mm Z check with the firmware/variant-derived z_range resolved onto Head96Information at setup. On FM-STAR heads this correctly accepts the extended 121-381 mm window (za/zb/zh share it per the H0 command set) instead of capping at the legacy range; legacy heads are unchanged. The out-of-range message now reports the head's actual window. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…formation Move the encoder step resolutions onto Head96Information as defaulted fields; the STARBackend class constants now alias those so existing references keep working. Add the Y window (y_range, y_speed_range) and wire head96_move_y to validate against them, matching the existing z_range wiring. Order the fields in X, Y, Z sequence and rename aspiration_volume_range to dispensing_drive_range (the piston window applies to both aspirate and dispense). Make Head96Information frozen(eq=False), matching iSWAPInformation. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…ware Indices 1 and 2 of the 96-head configuration are only populated from 2025 firmware onward; earlier firmware returns them as reserve, so stop_disc_type falls back to core_i and instrument_type to legacy on older instruments. Record this in the _head96_request_configuration docstring. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Follow-up applying the
iSWAPInformationconsolidation (#1055) to the 96-head. Moves the firmware/variant-derived 96-head limits and encoder resolutions out of scatteredSTARBackendhandling and intoHead96Information, resolved once at setup, so the record holds everything known about the installed 96-head.Head96Informationgains, in standard units:y_range,y_speed_range(mm/s),z_range(mm),dispensing_drive_range(uL),dispensing_drive_speed_range(uL/s), plus the Y / Z / dispensing / squeezer encoder resolutions as fields. Each range is resolved at setup from firmware version and instrument type; theSTARBackendclass constants now alias the record's defaults for backward compatibility.Head96Informationis nowfrozen(eq=False), matchingiSWAPInformation(STARBackend: makeiSWAPInformationimmutable #1066).head96_move_zandhead96_move_yvalidate against the resolved ranges instead of hardcoded values.Behaviour is identical on 2010+ firmware. Two firmware-correct changes to note for review:
head96_move_znow accepts the FM-STAR-extended Z window on FM-STAR heads, and the Y window shifts on pre-2010 firmware.