+ surface-following
+ core-grippers
+
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/star_lld.md b/docs/user_guide/00_liquid-handling/hamilton-star/core-features/star_lld.md
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/star_lld.md
rename to docs/user_guide/00_liquid-handling/hamilton-star/core-features/star_lld.md
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/surface-following.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/core-features/surface-following.ipynb
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/surface-following.ipynb
rename to docs/user_guide/00_liquid-handling/hamilton-star/core-features/surface-following.ipynb
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/hardware/index.md b/docs/user_guide/00_liquid-handling/hamilton-star/hardware/index.md
index 8a498cfb3aa..49cc46190b5 100644
--- a/docs/user_guide/00_liquid-handling/hamilton-star/hardware/index.md
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/hardware/index.md
@@ -1,4 +1,4 @@
-# Hamilton STAR Hardware Guide
+# STAR Hardware Guide
```{toctree}
:maxdepth: 1
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/star_old.png b/docs/user_guide/00_liquid-handling/hamilton-star/img/star_old.png
new file mode 100644
index 00000000000..2d3a457539f
Binary files /dev/null and b/docs/user_guide/00_liquid-handling/hamilton-star/img/star_old.png differ
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/starlet_old.png b/docs/user_guide/00_liquid-handling/hamilton-star/img/starlet_old.png
new file mode 100644
index 00000000000..6f873b62079
Binary files /dev/null and b/docs/user_guide/00_liquid-handling/hamilton-star/img/starlet_old.png differ
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/modules/384head.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/modules/384head.ipynb
new file mode 100644
index 00000000000..4d46e43255c
--- /dev/null
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/modules/384head.ipynb
@@ -0,0 +1,74 @@
+{
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Using the 384-Head\n",
+ "\n",
+ "work in progress\n",
+ "\n"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Background\n",
+ "\n",
+ "amazing stuff to come"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Setup"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Rocket Tips\n",
+ "\n",
+ "versatile"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "env",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.11.2"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/96head.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/modules/96head.ipynb
similarity index 82%
rename from docs/user_guide/00_liquid-handling/hamilton-star/96head.ipynb
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/96head.ipynb
index fa6809c59b6..7af15992123 100644
--- a/docs/user_guide/00_liquid-handling/hamilton-star/96head.ipynb
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/modules/96head.ipynb
@@ -4,21 +4,34 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "# Using the 96 head\n",
+ "# Using the 96-Head\n",
"\n",
- "\n",
- "\n",
- "\n",
- "\n",
+ "| Summary | Image |\n",
+ "|--------|--------|\n",
+ "| - Feature: CO-RE 96 Probe Head for high-throughput parallel pipetting
- Variants: stop discs: CO-RE I or CO-RE II; standard or TADM (Total Aspiration and Dispensing Monitoring); Generation: Legacy or Fluid Motion
- Operation: Simultaneous aspiration and dispensing across 96 wells in standard microplate format
- Liquid Detection: Capacitive liquid level detection on channels A1-B1 and/or G11-H12
- Volume Range: 1-1,000µL
- Workflow Benefit: Dramatic throughput increase, throughput adaptiveness, accelerated tip sorting
| 
Figure: Hamilton STAR 96-Head
||"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Background: Architecture of the 96-Head Module\n",
"\n",
- "Some liquid handling robots have a 96 head, which can be used to pipette 96 samples at once. This notebook shows how to use the 96 head in PyLabRobot."
+ "The 96-head uses the same tips as the 1000uL channels."
]
},
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
{
"cell_type": "markdown",
"metadata": {},
"source": [
- "## Example: Hamilton STARLet\n",
+ "## Setup\n",
"\n",
"Here, we'll use a Hamilton STARLet as an example. For other robots, simply change the deck layout, making sure that you have at least a tip rack and a plate to use."
]
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/autoload_and_1d_barcode_reader.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/modules/autoload_and_1d_barcode_reader.ipynb
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/autoload_and_1d_barcode_reader.ipynb
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/autoload_and_1d_barcode_reader.ipynb
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/96head/96head_banner.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/96head/96head_banner.png
new file mode 100644
index 00000000000..049f083afb9
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diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/96head/quadrants.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/96head/quadrants.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/img/96head/quadrants.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/96head/quadrants.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_correct_1d_barcode_height.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_correct_1d_barcode_height.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_correct_1d_barcode_height.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_correct_1d_barcode_height.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_overview.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_overview.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_overview.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_overview.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_state_transfer.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_state_transfer.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_autoload_state_transfer.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_autoload_state_transfer.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_star_autoload.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_star_autoload.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/img/autoload/hamilton_star_autoload.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/autoload/hamilton_star_autoload.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/iswap/iswap_old_banner.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/iswap/iswap_old_banner.png
new file mode 100644
index 00000000000..22bde4d241a
Binary files /dev/null and b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/iswap/iswap_old_banner.png differ
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/iswap_positions.png b/docs/user_guide/00_liquid-handling/hamilton-star/modules/img/iswap/iswap_positions.png
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/iswap_positions.png
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/img/iswap/iswap_positions.png
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/modules/intro.rst b/docs/user_guide/00_liquid-handling/hamilton-star/modules/intro.rst
new file mode 100644
index 00000000000..606aba77ccd
--- /dev/null
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/modules/intro.rst
@@ -0,0 +1,12 @@
+Modules/Extensions
+==================
+
+Tools for working with Hamilton-STAR specific functions.
+
+.. toctree::
+ :maxdepth: 1
+
+ 96-Head <96head>
+ 384-Head <384head>
+ Autoload & Barcode Reader
+ iSWAP
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap.ipynb
new file mode 100644
index 00000000000..1add6a2dc49
--- /dev/null
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap.ipynb
@@ -0,0 +1,218 @@
+{
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Using the iSWAP\n",
+ "\n",
+ "| Summary | Image |\n",
+ "|--------|--------|\n",
+ "| - Feature: Automated movement of resources on deck, and off-deck (90 mm to the left, 20 mm to the right)
- Grip Mechanism: Motorized gripper with adjustable grip force and position feedback
- Workflow Benefit: Enables automated plate stacking, restacking, and movement between instruments without manual intervention
- Best For: Automated workflows requiring plate transfers, integration with incubators/readers, or dynamic deck management
| 
Figure: Hamilton STAR iSWAP
|"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Background: Architecture of the iSWAP\n",
+ "\n",
+ "The \"internal SWivel Arm Plate handler\" (iSWAP)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Setup"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from pylabrobot.liquid_handling import LiquidHandler, STARBackend\n",
+ "from pylabrobot.resources import STARDeck\n",
+ "from pylabrobot.resources import (\n",
+ " TIP_CAR_480_A00,\n",
+ " PLT_CAR_L5AC_A00,\n",
+ " hamilton_96_tiprack_50uL,\n",
+ " Cor_96_wellplate_360ul_Fb\n",
+ ")\n",
+ "\n",
+ "star = STARBackend()\n",
+ "lh = LiquidHandler(backend=star, deck=STARDeck())\n",
+ "await lh.setup()\n",
+ "\n",
+ "# assign a tip rack carrier\n",
+ "tip_carrier = TIP_CAR_480_A00(name=\"tip_carrier\")\n",
+ "tip_carrier[1] = tip_rack = hamilton_96_tiprack_50uL(name=\"tip_rack\")\n",
+ "lh.deck.assign_child_resource(tip_carrier, rails=10)\n",
+ "\n",
+ "# assign a plate carrier\n",
+ "plt_carrier = PLT_CAR_L5AC_A00(name=\"plt_carrier\")\n",
+ "plt_carrier[0] = plate = Cor_96_wellplate_360ul_Fb(name=\"plt\")\n",
+ "lh.deck.assign_child_resource(plt_carrier, rails=30)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Querying iSWAP state\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "star.iswap_installed"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await star.iswap_installed()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Simple Plate Pickup/Drop"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Slow-move Pickup/Drop"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Manually moving the 96-Head"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await lh.backend.request_position_of_core_96_head()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await lh.backend.move_core_96_head_x(100)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## ...for Teaching/Calibrating Pickup-/Drop-Positions"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await lh.backend.move_core_96_head_y(120)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await lh.backend.move_core_96_head_z(300)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Pickup/Drop from a Plate Hotel/Vertical Carrier"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": []
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "env",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.11.2"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/iswap-module.md b/docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap_OLD.md
similarity index 99%
rename from docs/user_guide/00_liquid-handling/hamilton-star/iswap-module.md
rename to docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap_OLD.md
index 9562610409d..d5c9688e211 100644
--- a/docs/user_guide/00_liquid-handling/hamilton-star/iswap-module.md
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/modules/iswap_OLD.md
@@ -1,4 +1,4 @@
-# iSWAP Module
+# iSWAP
The `R0` module allows fine grained control of the iSWAP gripper.
@@ -38,7 +38,7 @@ You can rotate the iSWAP to 12 predefined positions using {meth}`~pylabrobot.liq
the positions and their corresponding integer specifications are shown visually here.
-
+
The `iswap_rotate` method can be used to move the wrist drive and the rotation drive simultaneously in one smooth motion. It takes a parameter for the rotation drive, and the final `grip_direction` of the iswap. The `grip_direction` is the same parameter used by {meth}`~pylabrobot.liquid_handling.liquid_handler.LiquidHandler.pick_up_resource` and {meth}`~pylabrobot.liquid_handling.liquid_handler.LiquidHandler.drop_resource`, and is with respect to the deck. This is easier than controlling the rotation drive, which is with respect to the wrist drive.
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/probing/clld-probing.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/probing/clld-probing.ipynb
new file mode 100644
index 00000000000..c80364a215c
--- /dev/null
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/probing/clld-probing.ipynb
@@ -0,0 +1,158 @@
+{
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# cLLD-Probing (x/y/z)\n",
+ "\n",
+ "With PyLabRobot, \n",
+ "\n",
+ "\n",
+ "```{warning}\n",
+ "This example uses the teaching tips. These are metal tips that are not forgiving. Be particularly careful when moving the channels around to avoid collisions.\n",
+ "```"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Background"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Setup\n",
+ "\n",
+ "If you are mapping a capacitive surface, you can use the cLLD sensor to detect the surface.\n",
+ "\n",
+ "```{warning}\n",
+ "This example uses the teaching tips. These are metal tips that are not forgiving. Be particularly careful when moving the channels around to avoid collisions.\n",
+ "```"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "protocol_mode = \"simulation\" # \"execution\" or \"simulation\""
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from pylabrobot.liquid_handling import LiquidHandler, STARBackend\n",
+ "from pylabrobot.resources import STARDeck\n",
+ "from pylabrobot.resources import (\n",
+ " TIP_CAR_480_A00,\n",
+ " PLT_CAR_L5AC_A00,\n",
+ " hamilton_96_tiprack_50uL,\n",
+ " Cor_96_wellplate_360ul_Fb\n",
+ ")\n",
+ "\n",
+ "star = STARBackend()\n",
+ "lh = LiquidHandler(backend=star, deck=STARDeck())\n",
+ "await lh.setup()\n",
+ "\n",
+ "# assign a tip rack carrier\n",
+ "tip_carrier = TIP_CAR_480_A00(name=\"tip_carrier\")\n",
+ "tip_carrier[1] = tip_rack = hamilton_96_tiprack_50uL(name=\"tip_rack\")\n",
+ "lh.deck.assign_child_resource(tip_carrier, rails=10)\n",
+ "\n",
+ "# assign a plate carrier\n",
+ "plt_carrier = PLT_CAR_L5AC_A00(name=\"plt_carrier\")\n",
+ "plt_carrier[0] = plate = Cor_96_wellplate_360ul_Fb(name=\"plt\")\n",
+ "lh.deck.assign_child_resource(plt_carrier, rails=30)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await star.prepare_for_manual_channel_operation(0)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# TODO: change this to a position that works for you\n",
+ "await star.move_channel_x(0, 500)\n",
+ "await star.move_channel_y(0, 300)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Use `STARBackend.clld_probe_y_position_using_channel` to probe the y-position of a single point at the current xz plane. This function will slowly move the channel until the liquid level sensor detects a change in capacitance. The y-point of the point of the tip is then returned."
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await star.clld_probe_y_position_using_channel(\n",
+ " channel_idx=0,\n",
+ " probing_direction=\"forward\",\n",
+ ")"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await star.clld_probe_y_position_using_channel(\n",
+ " channel_idx=0,\n",
+ " probing_direction=\"backward\",\n",
+ ")"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "await lh.return_tips()"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "env",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.10.15"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/probing/intro.rst b/docs/user_guide/00_liquid-handling/hamilton-star/probing/intro.rst
new file mode 100644
index 00000000000..6ec97af874a
--- /dev/null
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/probing/intro.rst
@@ -0,0 +1,11 @@
+Probing
+=======
+
+Tools for working with Hamilton-STAR specific functions.
+
+.. toctree::
+ :maxdepth: 1
+
+ cLLD-Probing (x/y/z)
+ Y-Probing
+ Z-Probing
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/y-probing.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/probing/y-probing.ipynb
similarity index 100%
rename from docs/user_guide/00_liquid-handling/hamilton-star/y-probing.ipynb
rename to docs/user_guide/00_liquid-handling/hamilton-star/probing/y-probing.ipynb
diff --git a/docs/user_guide/00_liquid-handling/hamilton-star/z-probing.ipynb b/docs/user_guide/00_liquid-handling/hamilton-star/probing/z-probing.ipynb
similarity index 99%
rename from docs/user_guide/00_liquid-handling/hamilton-star/z-probing.ipynb
rename to docs/user_guide/00_liquid-handling/hamilton-star/probing/z-probing.ipynb
index cc4dc2244dd..517eb4389a7 100644
--- a/docs/user_guide/00_liquid-handling/hamilton-star/z-probing.ipynb
+++ b/docs/user_guide/00_liquid-handling/hamilton-star/probing/z-probing.ipynb
@@ -86,7 +86,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
- "For more information on manually moving channels, see [Manually moving channels around](../moving-channels-around.ipynb)."
+ "For more information on manually moving channels, see [Manually moving channels around](../../moving-channels-around.ipynb)."
]
},
{
diff --git a/docs/user_guide/machine-agnostic-features/using-the-visualizer.ipynb b/docs/user_guide/machine-agnostic-features/using-the-visualizer.ipynb
index 3706e8a1b29..4e7050b6da5 100644
--- a/docs/user_guide/machine-agnostic-features/using-the-visualizer.ipynb
+++ b/docs/user_guide/machine-agnostic-features/using-the-visualizer.ipynb
@@ -20,7 +20,7 @@
"source": [
"## Setting up a connection with the robot\n",
"\n",
- "As described in the [basic liquid handling tutorial](../00_liquid-handling/hamilton-star/basic), we will use the {class}`~pylabrobot.liquid_handling.liquid_handler.LiquidHandler` class to control the robot. This time, however, instead of using the Hamilton {class}`~pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR` backend, we are using the software-only {class}`~pylabrobot.liquid_handling.backends.chatterbox.ChatterboxBackend` backend. This means that liquid handling will work exactly the same, but commands are simply printed out to the console instead of being sent to a physical robot. We are still using the same deck."
+ "As described in the [basic liquid handling tutorial](../00_liquid-handling/hamilton-star/core-features/basic), we will use the {class}`~pylabrobot.liquid_handling.liquid_handler.LiquidHandler` class to control the robot. This time, however, instead of using the Hamilton {class}`~pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR` backend, we are using the software-only {class}`~pylabrobot.liquid_handling.backends.chatterbox.ChatterboxBackend` backend. This means that liquid handling will work exactly the same, but commands are simply printed out to the console instead of being sent to a physical robot. We are still using the same deck."
]
},
{
@@ -329,7 +329,7 @@
"source": [
"## Liquid handling\n",
"\n",
- "Once the layout is complete, you can run the same commands as described in the [basic liquid handling tutorial](../00_liquid-handling/hamilton-star/basic).\n",
+ "Once the layout is complete, you can run the same commands as described in the [basic liquid handling tutorial](../00_liquid-handling/hamilton-star/core-features/basic).\n",
"\n",
"It is important that both tip tracking and volume tracking are enabled globally, so that the visualizer can keep track of the state of the tips and the volumes of the liquids."
]