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fix(tecan-infinite): pre-position XY before row scans #971

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Merged
rickwierenga merged 1 commit into from
Mar 27, 2026
Merged

fix(tecan-infinite): pre-position XY before row scans #971

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4 changes: 4 additions & 0 deletions pylabrobot/plate_reading/tecan/infinite_backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -586,6 +586,10 @@ async def _run_scan(
_, y_stage = self._map_well_to_stage(row_wells[0])

await self._send_command(f"ABSOLUTE MTP,Y={y_stage}")
# Match the OEM one-row scan flow by explicitly pre-positioning the transport to the
# row start before issuing SCANX. Hardware testing showed the standalone XY move alone
# can reintroduce the first-row edge-read problem.
await self._send_command(f"ABSOLUTE MTP,X={start_x},Y={y_stage}")
await self._send_command(f"SCAN DIRECTION={scan_direction}")
await self._send_command(
f"SCANX {start_x},{end_x},{count}", wait_for_terminal=False, read_response=False
Expand Down
41 changes: 41 additions & 0 deletions pylabrobot/plate_reading/tecan/infinite_backend_tests.py
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Original file line number Diff line number Diff line change
Expand Up @@ -733,9 +733,11 @@ async def mock_await(decoder, row_count, mode):
call(self._frame("PREPARE REF")),
# row scans (2 rows in test plate)
call(self._frame("ABSOLUTE MTP,Y=8000")),
call(self._frame("ABSOLUTE MTP,X=3000,Y=8000")),
call(self._frame("SCAN DIRECTION=ALTUP")),
call(self._frame("SCANX 3000,23000,3")),
call(self._frame("ABSOLUTE MTP,Y=16000")),
call(self._frame("ABSOLUTE MTP,X=23000,Y=16000")),
call(self._frame("SCAN DIRECTION=ALTUP")),
call(self._frame("SCANX 23000,3000,3")),
# _end_run
Expand Down Expand Up @@ -769,6 +771,41 @@ async def mock_terminal(_saw_terminal):

self.assertAlmostEqual(result[0]["data"][0][0], 0.3010299956639812)

async def test_read_absorbance_subset_prepositions_to_masked_row_start(self):
self.backend._ready = True
wells = self.plate.get_wells(["A2", "A3", "B1", "B2"])

async def mock_await(decoder, row_count, mode):
cal_len, cal_blob = _abs_calibration_blob(6000, 0, 1000, 0, 1000)
if decoder.calibration is None:
decoder.feed_bin(cal_len, cal_blob)
for _ in range(row_count):
data_len, data_blob = _abs_data_blob(6000, 500, 1000)
decoder.feed_bin(data_len, data_blob)

with patch.object(self.backend, "_await_measurements", side_effect=mock_await):
with patch.object(self.backend, "_await_scan_terminal", new_callable=AsyncMock):
result = await self.backend.read_absorbance(self.plate, wells, wavelength=600)

self.mock_usb.write.assert_has_calls(
[
call(self._frame("ABSOLUTE MTP,Y=8000")),
call(self._frame("ABSOLUTE MTP,X=13000,Y=8000")),
call(self._frame("SCAN DIRECTION=ALTUP")),
call(self._frame("SCANX 13000,23000,2")),
call(self._frame("ABSOLUTE MTP,Y=16000")),
call(self._frame("ABSOLUTE MTP,X=13000,Y=16000")),
call(self._frame("SCAN DIRECTION=ALTUP")),
call(self._frame("SCANX 13000,3000,2")),
]
)
self.assertIsNone(result[0]["data"][0][0])
self.assertAlmostEqual(result[0]["data"][0][1], 0.3010299956639812)
self.assertAlmostEqual(result[0]["data"][0][2], 0.3010299956639812)
self.assertAlmostEqual(result[0]["data"][1][0], 0.3010299956639812)
self.assertAlmostEqual(result[0]["data"][1][1], 0.3010299956639812)
self.assertIsNone(result[0]["data"][1][2])

async def test_read_fluorescence_commands(self):
"""Test that read_fluorescence sends the correct configuration commands."""
self.backend._ready = True
Expand Down Expand Up @@ -827,9 +864,11 @@ async def mock_await(decoder, row_count, mode):
call(self._frame("PREPARE REF")),
# row scans (2 rows in test plate)
call(self._frame("ABSOLUTE MTP,Y=8000")),
call(self._frame("ABSOLUTE MTP,X=3000,Y=8000")),
call(self._frame("SCAN DIRECTION=UP")),
call(self._frame("SCANX 3000,23000,3")),
call(self._frame("ABSOLUTE MTP,Y=16000")),
call(self._frame("ABSOLUTE MTP,X=23000,Y=16000")),
call(self._frame("SCAN DIRECTION=UP")),
call(self._frame("SCANX 23000,3000,3")),
# _end_run
Expand Down Expand Up @@ -886,9 +925,11 @@ async def mock_await(decoder, row_count, mode):
call(self._frame("PREPARE REF")),
# row scans (2 rows, non-serpentine so both scan left-to-right)
call(self._frame("ABSOLUTE MTP,Y=8000")),
call(self._frame("ABSOLUTE MTP,X=3000,Y=8000")),
call(self._frame("SCAN DIRECTION=UP")),
call(self._frame("SCANX 3000,23000,3")),
call(self._frame("ABSOLUTE MTP,Y=16000")),
call(self._frame("ABSOLUTE MTP,X=3000,Y=16000")),
call(self._frame("SCAN DIRECTION=UP")),
call(self._frame("SCANX 3000,23000,3")),
# _end_run
Expand Down
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