######################################################################
#		CF RDB production: phase 9: 6/1/98		     #
#		Steve Lappin, SBCL R&D, (818) 376-6369		     #
#                                                                    #
#		final version - reversed spotting procedure	     #
#		use with 0.1% tween 20 in the probe buffer	     #
#								     #
#		programmed to spot up to 24 additional spots.	     #
#		This method uses new membrane holder		     #
#              Source is 96 well Pipette Transfer routine	     #
#				 				     #
# * Absolute values for TIP , source plate , Tool and Fixture plate  #
#   positions must be determined and set prior to operation**        #
#                                                                    #
#                                                                    #
# Based on original code by Jeff Cahlik (714) 773-8675  6/2/97       #
#								     #
######################################################################
DH
# User Variables

set Volume  0.6   ;# in ul to repeat dispense 
set Aspiration_Depth  20 ;# 0-100 % 
set AspRate 15   ;# 2-30
set AspDelay 1000  ;# in mSecs
set Dest_Depth 30 ;# fine down adjustment for Grid Depth in usteps  
set DspRate 10   ;# 2-30
set DspDelay 1000  ;# in mSecs
set PreDisp 15  ;# predispence 0 - 100 % initial dispence compensation
set source_tiptouch 1 ;# 1=Yes 0=No
  
######################################################################
# set Source position
set Loc_Source_x 77060
set Loc_Source_y 41330
set Source_top 29860
set Source_bottom 29060
set Source_depth [expr $Source_bottom + (($Source_top - $Source_bottom) * $Aspiration_Depth) / 100 ]
puts ""
puts $Source_depth
set rows 9 ;# The number of source rows to transfer

#  Set location for P20 tips.

set x_tip 76960

set y_tip 26100

set z_tip 30320


#  Set location for pos 5 tool. (MP20)

set x_tool 73600

set y_tool 26400

set z_tool 29000

set Global_x 0

set Global_y 0

#  Set location for Dest1 Array. (anchor reference)

set Loc_x_dest(1) 92660

set RLoc_x_dest(1) $Loc_x_dest(1)

set Loc_y_dest(1) 26420

set Loc_z_dest(1) 28860

set Loc_z_dest(1) [expr $Loc_z_dest(1) - $Dest_Depth] ;#add in fine tuning

#  Set location for Dest2 Array.

set Loc_x_dest(2) $Loc_x_dest(1)

set Loc_y_dest(2) [expr $Loc_y_dest(1) + 13800]

set Loc_z_dest(2) $Loc_z_dest(1)


# Set safe hover height for layout

set z_safe 45100

# T_motor setup

set tool_empty 1400

set tool_on 1800

set tip_off 200

# Initialize motor speeds
SX 500
SY 500
SZ 500
TS 20

#  Set aspiration/despense volume using MP20 / P20 tool.
#  with slope=.6406mm/ul and offset=.35mm/ul units are .
set tool_slope 64.04
set tool_offset 35.0
set asp_volume [expr (($Volume * $tool_slope) + $tool_offset)]  
set Replicates 10 ;# **********
set Repeat_Volume [expr $asp_volume * ($Replicates + 3)] ;# rows to repeat
puts ""
puts $asp_volume
puts $Repeat_Volume

# Pick up a tool .
MA $x_tool $y_tool $z_safe $tool_empty 
TS 10
SZ 50
MT -$tool_on
MA 0 0 $z_tool
MT $tool_empty
SZ 100
MA $x_tool $y_tool $z_safe
MA $x_tip $y_tip $z_safe

#Initialize counters
set i 0
set j 0
set k 0
set Shifty 0

	while {$k < $rows} {
		if {$k==8} {
			#  Reset location for Dest1 Array for R target. (anchor reference)
			set Loc_x_dest(1) [expr $Loc_x_dest(1) + -451]
			set Loc_y_dest(1) [expr $Loc_y_dest(1) - 903]
			set Loc_z_dest(1) [expr $Loc_z_dest(1) - 50]
			#  Set location for Dest2 Array.
			set Loc_x_dest(2) $Loc_x_dest(1)
			set Loc_y_dest(2) [expr $Loc_y_dest(1) + 13800]
			set Loc_z_dest(2) [expr $Loc_z_dest(1) - 50]
			set shifty 0
			}
			
		set ArrayNum 1
		# Pick up tip.
		SZ 50
		TS 10
		MA $x_tip $y_tip 0 [expr $tool_empty + 100]
		MA $x_tip $y_tip $z_tip
		DH 2 
		MA $x_tip $y_tip $z_safe
		SZ 100
		#Begin  transfer#####

	while {$ArrayNum <= 2 } {
			puts $ArrayNum
			#  Aspirate res_source.
			MA $Loc_Source_x $Loc_Source_y $z_safe
			MA 0 0 $Source_top
			MA 0 0 $Source_depth $tool_empty
			TS $AspRate
			MT $Repeat_Volume
			DL $AspDelay
				if {$source_tiptouch==1} {
				MA 0 0 [expr $Source_top - 100]
				MT -$asp_volume
				SX 50
				MA [expr $Loc_Source_x + 450] 0 0
				MA $Loc_Source_x 0 $Source_top 
				SX 500
				}
			TS 10
			MA $Loc_Source_x $Loc_Source_y $z_safe
			# Repeat Dispense at each Dest .
			if {$Shifty==1} {
				set y_dest [expr $Loc_y_dest($ArrayNum) - 450]
				set x_dest $Loc_x_dest($ArrayNum)
			     } else {
				set y_dest $Loc_y_dest($ArrayNum) 
				set x_dest $Loc_x_dest($ArrayNum)
			     }
				MA $x_dest $y_dest $z_safe ;# Safe passage to grid
				set j 0
			
			while {$j<$Replicates} {
				MA $x_dest $y_dest 0
				MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 400]
				# if {$j==0} {MT [expr (-$asp_volume * $PreDisp) / 100]} 
				MT -$asp_volume
				DL $DspDelay
				MA $x_dest $y_dest $Loc_z_dest($ArrayNum) ;# depth fine tuning is in here already!
				MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 50]
				MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 50]
				MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 500] ;#Change num for clearence
				puts $x_dest
				puts $y_dest
				incr j
				incr x_dest 2100
				}
		DH 2		
		incr ArrayNum
		}
		
#Blowout residules
puts "Blowout"
MA $Loc_Source_x $Loc_Source_y $z_safe
MA 0 0 $Source_top
MA 0 0 0 $tool_empty
MA 0 0 [expr $Source_top - 100]
# tip touch
SX 50
MA [expr $Loc_Source_x + 450] 0 0
MA $Loc_Source_x 0 $Source_top 
SX 500
MA 0 0 $z_safe

# put tips away.
puts "Tips away"
TS 10
MA 0 0 $z_safe
MA $x_tip $y_tip $z_safe $tool_empty
MA $x_tip $y_tip [expr $z_tip + 2000] 
MA $x_tip $y_tip 0 $tip_off
MA 0 0 [expr $z_tip + 2000] $tool_empty 
incr x_tip 903 ;#set tip to next row.

#Perform shift and increment source
if {$Shifty == 1} {
incr Loc_x_dest(1) 450
incr Loc_x_dest(2) 450
set Shifty 0
} {
set Shifty 1
}
set Loc_Source_x [expr $Loc_Source_x + 904] ;# Next row
incr k
}

# put tool away. 
puts "MP20 away! " 
MA 0 0 $z_safe
MA $x_tool $y_tool $z_safe $tool_empty
TS 10
SZ 50
MA 0 0 $z_tool 
MT -$tool_on
MA $x_tool $y_tool $z_safe $tool_empty

##### Begin additional spots - using same variables #####

# Reset Source position
set Volume  1   ;# in ul to repeat dispense
set Loc_Source_x 85200
set Loc_Source_y 38250
set Source_top 33650
set Source_bottom 32600
set Source_depth [expr $Source_bottom + (($Source_top - $Source_bottom) * $Aspiration_Depth) / 100 ]
puts ""
puts $Source_depth
set rows 6 ;# The number of source rows to transfer !! rows used here equate to wells (in one row)!!
# Six extra spots for CFRDB 34+1 method

# Reset location for P20 tips. (Row 10, tip 1)

set x_tip 85150

set y_tip 23000

set z_tip 33900


# Set location for P20 tool.

set x_tool 56800

set y_tool 26500

set z_tool 29000

set Global_x 0

set Global_y 0

#  Set location for new Dest1 Array. (anchor reference to left of first spot)

set Loc_x_dest(1) 92660

set RLoc_x_dest(1) $Loc_x_dest(1)

set Loc_y_dest(1) 30050

set Loc_z_dest(1) 32300

set Loc_z_dest(1) [expr $Loc_z_dest(1) - $Dest_Depth] ;#add in fine tuning

#  Set location for new Dest2 Array.

set Loc_x_dest(2) $Loc_x_dest(1)

set Loc_y_dest(2) [expr $Loc_y_dest(1) + 13800]

set Loc_z_dest(2) $Loc_z_dest(1)

# Set new safe hover height for layout with P20 tool

set z_safe 45100

#  Set aspiration/despense volume using P20 tool repeat dispense parameters.
#  with slope=.6500mm/ul and offset=-.10mm/ul units are .
set tool_slope 65.00
set tool_offset -10.0
set asp_volume [expr (($Volume * $tool_slope) + $tool_offset)]  
set Replicates 10 ;# **********
set Repeat_Volume [expr $asp_volume * ($Replicates + 3)] ;# rows to repeat
puts ""
puts $asp_volume
puts $Repeat_Volume

# Pick up P20 tool.
MA $x_tool $y_tool $z_safe $tool_empty 
TS 10
SZ 50
MT -$tool_on
MA 0 0 $z_tool
MT $tool_empty
SZ 100
MA $x_tool $y_tool $z_safe
MA $x_tip $y_tip $z_safe

## BEGIN MODIFIED NIGHTMARE LOOP ##

#Initialize counters
set i 0
set j 0
set k 0
set L 1
set m 1

	while {$k < $rows} {			
		set ArrayNum 1
		# Pick up tip.
		SZ 50
		TS 10
		MA $x_tip $y_tip 0 [expr $tool_empty + 100]
		MA $x_tip $y_tip $z_tip
		DH 2 
		MA $x_tip $y_tip $z_safe
		SZ 100
		#Begin  transfer#####

		while {$ArrayNum <= 2 } {
				puts $ArrayNum
				#  Aspirate res_source.
				MA $Loc_Source_x $Loc_Source_y $z_safe
				MA 0 0 $Source_top
				MA 0 0 $Source_depth $tool_empty
				TS $AspRate
				MT $Repeat_Volume
				DL $AspDelay
					if {$source_tiptouch==1} {
					MA 0 0 [expr $Source_top - 100]
					MT -$asp_volume
					SX 50
					MA [expr $Loc_Source_x + 450] 0 0
					MA $Loc_Source_x 0 $Source_top 
					SX 500
					}
				TS 10
				MA $Loc_Source_x $Loc_Source_y $z_safe
				# Repeat Dispense at each Dest. (Removed offset spotting routine "shifty0/1")				
					set y_dest $Loc_y_dest($ArrayNum) 
					set x_dest $Loc_x_dest($ArrayNum)
					MA $x_dest $y_dest $z_safe ;# Safe passage to grid			
					set j 0
				
				while {$j<$Replicates} {
					MA $x_dest $y_dest 0
					MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 400]
					# if {$j==0} {MT [expr (-$asp_volume * $PreDisp) / 100]} 
					MT -$asp_volume
					DL $DspDelay
					MA $x_dest $y_dest $Loc_z_dest($ArrayNum) ;# depth fine tuning is in here already!
					MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 50]
					MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 50]
					MA $x_dest $y_dest [expr $Loc_z_dest($ArrayNum) + 500] ;#Change num for clearence
					puts $x_dest
					puts $y_dest
					incr j
					incr x_dest 2100
					}
			DH 2		
			incr ArrayNum
			}
		
	#Blowout residules
	puts "Blowout"
	MA $Loc_Source_x $Loc_Source_y $z_safe
	MA 0 0 $Source_top
	MA 0 0 0 $tool_empty
	MA 0 0 [expr $Source_top - 100]
	# tip touch
	SX 50
	MA [expr $Loc_Source_x + 450] 0 0
	MA $Loc_Source_x 0 $Source_top 
	SX 500
	MA 0 0 $z_safe
	
	# put tips away.
	puts "Tips away"
	TS 10
	MA 0 0 $z_safe
	MA $x_tip $y_tip $z_safe $tool_empty
	MA $x_tip $y_tip [expr $z_tip + 2000] 
	MA $x_tip $y_tip 0 $tip_off
	MA 0 0 [expr $z_tip + 2000] $tool_empty 
	incr y_tip 903 ;#set tip to next tip in column.
	
	#Rem shift routine and increment source (next well in column)
				#if {$Shifty == 1} {
	incr Loc_x_dest(1) 451
	incr Loc_x_dest(2) 451
				#set Shifty 0
				#} {
				#set Shifty 1
				#}
	set Loc_Source_y [expr $Loc_Source_y + 904] ;# Next row
	
	
	#step destination spot to next column, first position after four spots (
	if {$L==4} {
		incr Loc_y_dest(1) 451
		set Loc_x_dest(1) [expr $Loc_x_dest(1) - 1804]
		incr Loc_y_dest(2) 451
		set Loc_x_dest(2) [expr $Loc_x_dest(2) - 1804]
		set L 0
		} 
	incr L 1

	#step source and tip to next column, first position after eight spots	
	if {$m==8} {
		# move probe source
		incr Loc_Source_x 903 
		set Loc_Source_y [expr $Loc_Source_y - 7224]
		# move tip source
		incr x_tip 903
		set y_tip [expr $y_tip - 7224]
		set m 0
		} 
	incr m 1
	incr k
	}

# put tool away. 
puts "P20 away! " 
MA 0 0 $z_safe
MA $x_tool $y_tool $z_safe $tool_empty
TS 10
SZ 50
MA 0 0 $z_tool 
MT -$tool_on
MA $x_tool $y_tool $z_safe $tool_empty

##### End of additional spots #####
DH
puts "CFRDB phase 4 program finished."

unset shifty
unset x_tool
unset y_tool
unset z_tool
unset tool_empty
unset tool_on
unset tip_off
unset z_safe
unset Loc_x_dest(1)
unset Loc_y_dest(1)
unset Loc_z_dest(1)
unset Loc_x_dest(2)
unset Loc_y_dest(2)
unset Loc_z_dest(2)
unset Loc_Source_x
unset Loc_Source_y
unset Source_bottom
unset y_tip
unset x_tip
unset z_tip
unset tool_slope
unset tool_offset
unset x_dest
unset y_dest
unset AspRate
unset Aspiration_Depth
unset Source_top
unset Source_depth
unset ArrayNum
unset Replicates
unset Repeat_Volume
unset asp_volume
unset Volume
unset i
unset j
unset k
unset L