step_off_foil for rotated plates (#419)

Author: ben-ray

pylabrobot/liquid_handling/backends/hamilton/STAR.py

@@ -7820,8 +7820,21 @@ async def step_off_foil(
       )
 
     # Get the absolute locations for center front top and center back top
-    back_location = well.get_absolute_location("c", "b", "t")
-    front_location = well.get_absolute_location("c", "f", "t")
+    orientation = well.get_absolute_rotation().z % 90
+    if orientation == 0:
+      back_location = well.get_absolute_location("c", "b", "t")
+      front_location = well.get_absolute_location("c", "f", "t")
+    elif orientation == 90:
+      back_location = well.get_absolute_location("r", "c", "t")
+      front_location = well.get_absolute_location("l", "c", "t")
+    elif orientation == 180:
+      back_location = well.get_absolute_location("c", "f", "b")
+      front_location = well.get_absolute_location("c", "b", "b")
+    elif orientation == 270:
+      back_location = well.get_absolute_location("l", "c", "b")
+      front_location = well.get_absolute_location("r", "c", "b")
+    else:
+      raise ValueError("Rotation of well must be a multiple of 90 degrees")
 
     try:
       # Then move all channels in the y-space simultaneously.

pylabrobot/resources/thermo_fisher/plates.py

@@ -119,7 +119,7 @@ def Thermo_TS_96_wellplate_1200ul_Rb(name: str, with_lid: bool = False) -> Plate
 def Thermo_TS_96_wellplate_1200ul_Rb_L(name: str, with_lid: bool = False) -> Plate:
   # https://github.com/PyLabRobot/pylabrobot/issues/252
   raise NotImplementedError(
-    "_L and _P definitions are deprecated. Use " "Thermo_TS_96_wellplate_1200ul_Rb instead."
+    "_L and _P definitions are deprecated. Use Thermo_TS_96_wellplate_1200ul_Rb instead."
   )
 
 
@@ -232,8 +232,7 @@ def Thermo_AB_96_wellplate_300ul_Vb_EnduraPlate(name: str, with_lid: bool = Fals
 
 def Thermo_AB_96_wellplate_300ul_Vb_EnduraPlate_L(name: str, with_lid: bool = False) -> Plate:
   raise NotImplementedError(
-    "_L and _P definitions are deprecated. Use "
-    "Thermo_AB_96_wellplate_300ul_Vb_EnduraPlate instead."
+    "_L and _P definitions are deprecated. Use Thermo_AB_96_wellplate_300ul_Vb_EnduraPlate instead."
   )