File: pipette_driver/PipetteAction.srv
Raw Message Definition
# posible actions
byte QUERY=1 # Query amount of liquid remaining in pipette
byte PURGE=2 # Spit out all liquid
byte ASPIRATE=3 # Suck up liquid
byte DISPENSE=4 # Spit out liquid
byte action # QUERY, PURGE, ASPIRATE, DISPENSE, ...
byte speed # Speed to run action at, availble for ASPIRATE, DISPENSE, ignored for other commands
int32 amount # microliters (uL) of movement for action
byte bells # Pipette can beep a number of after action has been completed
---
int32 position # Returns remaining liquid in uL.
Compact Message Definition
byte QUERY=1
byte PURGE=2
byte ASPIRATE=3
byte DISPENSE=4
byte action
byte speed
int32 amount
byte bells
int32 position