STARBackend: 96-head Y/Z drive speed & acceleration set/request, scoped to each move#1088
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BioCam wants to merge 2 commits into
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STARBackend: 96-head Y/Z drive speed & acceleration set/request, scoped to each move#1088BioCam wants to merge 2 commits into
STARBackend: 96-head Y/Z drive speed & acceleration set/request, scoped to each move#1088BioCam wants to merge 2 commits into
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…A/RA Add head96_set_y_speed / head96_set_y_acceleration / head96_set_z_speed / head96_set_z_acceleration, each saving the persistent drive parameter (yv/yr/zv/zr) standalone via H0 AA - no move - so subsequent moves (including the C0-level 96-head commands) inherit it, the same mechanism slow_iswap uses with R0 AA on wv/tv. Add the read counterparts head96_request_y_speed / _y_acceleration / _z_speed / _z_acceleration via H0 RA, with z-acceleration inverting the firmware-version scaling that the setter applies. Validation mirrors the existing move methods; setters are @_requires_head96, getters unguarded. NOTE: unverified on hardware - that AA accepts these parameter names and RA reads them back in the assumed field widths is inferred by analogy to slow_iswap; confirm with a set/request round-trip on the device. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…retract Z on crash A ZA/YA move leaves its speed and acceleration in the drive's volatile register, so a later move or C0-level command inherits them (confirmed on hardware: a speed=20 Z move reads zv back as 20). head96_move_stop_disk_z and head96_move_y reset the drive parameters to the head's default after the move, skipping the reset for parameters the caller left at default (no churn on plain moves); reset_z_parameters / reset_y_parameters opt out. head96_move_stop_disk_z retracts to Z-safety on any firmware error before re-raising, via retract_on_crash (head96_move_to_z_safety passes False so the retract cannot recurse). head96_move_y speed/acceleration now default to None (firmware default) instead of 300, matching head96_move_stop_disk_z. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Adds set/request for the 96-head Y and Z drive speed and acceleration (
H0 AA/H0 RA), and uses them so a move's speed and acceleration are scoped to that single call. Builds on #1086 (the Z move primitives) and #1087 (the per-drive defaults).A
ZA/YAmove writes its speed and acceleration into the drive's volatile register and leaves them there, so a later move - or aC0-level command (aspirate96/dispense96) that sends none of its own - silently inherits the previous move's values. Confirmed on hardware: aspeed=20Z move readszvback as 20.head96_set_y_speed/head96_set_y_acceleration/head96_set_z_speed/head96_set_z_acceleration(H0 AA): save a persistent drive parameter standalone, no move - the same mechanismslow_iswapuses on the iSWAP viaR0 AA.head96_request_y_speed/head96_request_y_acceleration/head96_request_z_speed/head96_request_z_acceleration(H0 RA): the read counterparts.head96_move_stop_disk_zandhead96_move_yreset the drive speed/acceleration to the head's default after the move, skipping the reset when the caller left a parameter at its default (so a plain move adds no register writes);reset_z_parameters/reset_y_parametersopt out.head96_move_stop_disk_zretracts to Z-safety on any firmware error (e.g. the head crashing into something) before re-raising, viaretract_on_crash;head96_move_to_z_safetypasses it False so the retract cannot recurse.Behaviour change to note for review:
head96_move_y'sspeed/accelerationnow default toNone(resolving to the firmware default, e.g. 390.62 mm/s) instead of a hardcoded 300, matchinghead96_move_stop_disk_z.Validated on hardware:
RAreads match the firmware-resolved defaults inHead96Information, and anAAset followed byRAround-trips exactly.