operate.py

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#!/usr/bin/env python

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import roslib; roslib.load_manifest('pipette_driver')

import pipette_driver
import time

bd_addr = "00:80:98:e6:2b:30"

port = 1

def print_position(pipette):
    print 'Requesting position'
    cmd = pipette_driver.ViafloPositionQueryCommand()
    resp = pipette.send_msg(cmd)
    print resp

print 'Opening pipette'
pipette = pipette_driver.ViafloPipette()
pipette.open(bd_addr, port)

print 'Requesting info'
info_cmd = pipette_driver.ViafloInfoCommand()
info_resp = pipette.send_msg(info_cmd)
print info_resp

print 'Requesting version'
version_cmd = pipette_driver.ViafloVersionCommand()
version_resp = pipette.send_msg(version_cmd)
print version_resp

print_position(pipette)

print 'Sending asperate command'
action = pipette_driver.ViafloAspirateCommand(8,500,2)
action_resp = pipette.send_msg(action)
print action_resp

print_position(pipette)

time.sleep(2)

print 'Sending dispense command'
action = pipette_driver.ViafloDispenseCommand(8,250,5)
action_resp = pipette.send_msg(action)
print action_resp

print_position(pipette)

time.sleep(3)

print 'Sending purge command'
action = pipette_driver.ViafloPurgeCommand(8,1)
action_resp = pipette.send_msg(action)
print action_resp

print_position(pipette)


#action = 


#action = pipette_driver.ViafloActionCommand(4, 2, 1000, 0, 0)
#action_resp = pipette.send_msg(action)