Peristaltic pumps

Pololu Tic stepper-based peristaltic pump control.

RESTPython

All endpoints are under the /peristaltic/ prefix.

The openculture SDK is a typed REST client — it calls the same endpoints as the REST tab.

Namespace: h.peristaltic — 16 endpoints.

from openculture import HabitatClient

with HabitatClient("http://mistyforest.local:8000") as h:
    # List all peristaltic pumps
    pumps = h.peristaltic.list_pumps()

    # Get a single pump by name (peristaltic pumps are addressed by name)
    pump = h.peristaltic.get_pump_status("feed")

    # Spin continuously, then stop
    h.peristaltic.spin("feed", request=SpinRequest(...))
    h.peristaltic.stop("feed", request=StopRequest(...))

All request and response shapes are in openculture.client.habitat.models.

Endpoint reference

Habitat API — peristaltic 0.1.0

REST API for the Habitat tissue-culture automation platform by Open Culture Science. All endpoints accept and return JSON.

peristaltic

GET /peristaltic/

List all peristaltic pumps

Description

Get status for all configured peristaltic pumps.

Responses

200 OK

application/json

⚠️ This example href="#__codelineno-1-1">[ { "name": "string", "serial_number": null, "energized": true, "operation_state": "string", "current_position": 0, "current_velocity": 0, "target_position": 0, "vin_voltage": null, "errors": "string", "step_mode": 0, "current_limit_ma": null, "max_speed": null, "planning_mode": "string", "ready": true, "flow_rate_ul_min": 10.12 } ] has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "items": {
        "$ref": "#/components/schemas/PeristalticStatus"
    },
    "type": "array",
    "title": "Response List Pumps Peristaltic  Get"
}

GET /peristaltic/{name}

Pump status

Description

Get detailed status for a single peristaltic pump.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "name": "string",
    "serial_number": null,
    "energized": true,
    "operation_state": "string",
    "current_position": 0,
    "current_velocity": 0,
    "target_position": 0,
    "vin_voltage": null,
    "errors": "string",
    "step_mode": 0,
    "current_limit_ma": null,
    "max_speed": null,
    "planning_mode": "string",
    "ready": true,
    "flow_rate_ul_min": 10.12
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "name": {
            "type": "string",
            "title": "Name"
        },
        "serial_number": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Serial Number"
        },
        "energized": {
            "type": "boolean",
            "title": "Energized",
            "default": false
        },
        "operation_state": {
            "type": "string",
            "title": "Operation State",
            "default": "Unknown"
        },
        "current_position": {
            "type": "integer",
            "title": "Current Position",
            "default": 0
        },
        "current_velocity": {
            "type": "integer",
            "title": "Current Velocity",
            "default": 0
        },
        "target_position": {
            "type": "integer",
            "title": "Target Position",
            "default": 0
        },
        "vin_voltage": {
            "anyOf": [
                {
                    "type": "number"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Vin Voltage"
        },
        "errors": {
            "type": "string",
            "title": "Errors",
            "default": "(none)"
        },
        "step_mode": {
            "type": "integer",
            "title": "Step Mode",
            "default": 16
        },
        "current_limit_ma": {
            "anyOf": [
                {
                    "type": "integer"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Current Limit Ma"
        },
        "max_speed": {
            "anyOf": [
                {
                    "type": "integer"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Max Speed"
        },
        "planning_mode": {
            "type": "string",
            "title": "Planning Mode",
            "default": "Off"
        },
        "ready": {
            "type": "boolean",
            "title": "Ready",
            "default": false
        },
        "flow_rate_ul_min": {
            "type": "number",
            "title": "Flow Rate Ul Min",
            "default": 0.0
        }
    },
    "type": "object",
    "required": [
        "name"
    ],
    "title": "PeristalticStatus",
    "description": "Full status for a single peristaltic pump."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

GET /peristaltic/{name}/ready

Check pump ready state

Description

Quick check if pump is idle (not moving).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

Schema of the response body

{
    "type": "object",
    "additionalProperties": true,
    "title": "Response Check Ready Peristaltic  Name  Ready Get"
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/spin

Spin the pump continuously

Description

Drives the peristaltic pump motor at a target velocity in microsteps per 10 kHz (firmware-native units). Positive values rotate in the pump's natural direction; negative reverses (subject to reverse flag in the YAML config).

The pump keeps spinning until POST /peristaltic/{name}/stop is called, POST /peristaltic/{name}/deenergize cuts power, or the safety layer trips an emergency stop.

Updates device_state.target_velocity + energized on success (Fork 1).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "velocity": 0
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "velocity": {
            "type": "integer",
            "title": "Velocity",
            "description": "Velocity in microsteps per 10,000 seconds (negative = reverse)"
        }
    },
    "type": "object",
    "required": [
        "velocity"
    ],
    "title": "SpinRequest",
    "description": "Request body for continuous spinning."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/stop

Stop the peristaltic pump

Description

Halts a spinning pump. hold=true (default) keeps the motor energized and locked in place — useful when you want to resume motion shortly. hold=false de-energizes the motor, saving power but allowing manual rotation of the head.

Sets device_state.target_velocity = 0 on success (Fork 1).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "hold": true
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "hold": {
            "type": "boolean",
            "title": "Hold",
            "description": "If True, hold position (energized). If False, de-energize (freewheel).",
            "default": true
        }
    },
    "type": "object",
    "title": "StopRequest",
    "description": "Request body for stopping the pump."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/move

Move by steps

Description

Move by step count (relative or absolute).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "steps": 0,
    "relative": true,
    "block": true
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "steps": {
            "type": "integer",
            "title": "Steps",
            "description": "Number of microsteps (positive = forward, negative = reverse)"
        },
        "relative": {
            "type": "boolean",
            "title": "Relative",
            "description": "If True, move relative to current position. If False, absolute.",
            "default": true
        },
        "block": {
            "type": "boolean",
            "title": "Block",
            "description": "Wait for motion to complete before returning",
            "default": true
        }
    },
    "type": "object",
    "required": [
        "steps"
    ],
    "title": "MoveRequest",
    "description": "Request body for position-based moves."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/dose

Dose volume

Description

Pump a calibrated volume of fluid.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "volume_ml": 10.12,
    "direction": "forward",
    "block": true
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "volume_ml": {
            "type": "number",
            "exclusiveMinimum": 0.0,
            "title": "Volume Ml",
            "description": "Volume to pump in mL"
        },
        "direction": {
            "$ref": "#/components/schemas/FlowDirection",
            "description": "Flow direction",
            "default": "forward"
        },
        "block": {
            "type": "boolean",
            "title": "Block",
            "description": "Wait for motion to complete before returning",
            "default": true
        }
    },
    "type": "object",
    "required": [
        "volume_ml"
    ],
    "title": "DoseRequest",
    "description": "Request body for volume dosing."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/prime

Prime tubing

Description

Run pump for a duration (prime/purge tubing lines).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "seconds": 10.12,
    "velocity": 0
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "seconds": {
            "type": "number",
            "maximum": 300.0,
            "exclusiveMinimum": 0.0,
            "title": "Seconds",
            "description": "Duration to run in seconds (max 5 minutes)"
        },
        "velocity": {
            "type": "integer",
            "title": "Velocity",
            "description": "Velocity in microsteps per 10,000 seconds"
        }
    },
    "type": "object",
    "required": [
        "seconds",
        "velocity"
    ],
    "title": "PrimeRequest",
    "description": "Request body for priming (run for N seconds at given velocity)."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/step-mode

Set step mode

Description

Set the microstepping divisor.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "step_mode": 1
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "step_mode": {
            "$ref": "#/components/schemas/StepMode",
            "description": "Microstepping divisor"
        }
    },
    "type": "object",
    "required": [
        "step_mode"
    ],
    "title": "StepModeRequest",
    "description": "Request body for setting the microstepping mode."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/current-limit

Set current limit

Description

Set the motor current limit in mA.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "current_limit_ma": 0
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "current_limit_ma": {
            "type": "integer",
            "maximum": 4000.0,
            "minimum": 1.0,
            "title": "Current Limit Ma",
            "description": "Current limit in mA (Tic 36v4 max: 4000)"
        }
    },
    "type": "object",
    "required": [
        "current_limit_ma"
    ],
    "title": "CurrentLimitRequest",
    "description": "Request body for setting the motor current limit."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/speed-profile

Set speed profile

Description

Update speed/acceleration settings.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Request body

application/json

{
    "max_speed": null,
    "starting_speed": null,
    "max_accel": null,
    "max_decel": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the request body

{
    "properties": {
        "max_speed": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 500000000.0,
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Max Speed",
            "description": "Maximum speed in microsteps per 10,000 seconds"
        },
        "starting_speed": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 500000000.0,
                    "minimum": 0.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Starting Speed",
            "description": "Starting speed in microsteps per 10,000 seconds"
        },
        "max_accel": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 2147483647.0,
                    "minimum": 100.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Max Accel",
            "description": "Maximum acceleration in microsteps/s per 100 s"
        },
        "max_decel": {
            "anyOf": [
                {
                    "type": "integer",
                    "maximum": 2147483647.0,
                    "minimum": 100.0
                },
                {
                    "type": "null"
                }
            ],
            "title": "Max Decel",
            "description": "Maximum deceleration in microsteps/s per 100 s"
        }
    },
    "type": "object",
    "title": "SpeedConfigRequest",
    "description": "Request body for updating speed/acceleration settings."
}

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/energize

Energize motor

Description

Energize the motor coils.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/deenergize

De-energize motor

Description

De-energize the motor coils (freewheel).

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/reset

Reset controller

Description

Software reset the Tic controller.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/{name}/clear-errors

Clear errors

Description

Clear driver errors and exit safe start.

Input parameters

Parameter	In	Type	Default	Nullable	Description
`name`	path	string		No

Responses

200 OK422 Unprocessable Entity

application/json

{
    "success": true,
    "pump_name": "string",
    "message": "string",
    "error": null
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "success": {
            "type": "boolean",
            "title": "Success"
        },
        "pump_name": {
            "type": "string",
            "title": "Pump Name"
        },
        "message": {
            "type": "string",
            "title": "Message",
            "default": ""
        },
        "error": {
            "anyOf": [
                {
                    "type": "string"
                },
                {
                    "type": "null"
                }
            ],
            "title": "Error"
        }
    },
    "type": "object",
    "required": [
        "success",
        "pump_name"
    ],
    "title": "CommandResponse",
    "description": "Generic response from a peristaltic pump command."
}

application/json

{
    "detail": [
        {
            "loc": [
                null
            ],
            "msg": "string",
            "type": "string",
            "input": null,
            "ctx": {}
        }
    ]
}

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "properties": {
        "detail": {
            "items": {
                "$ref": "#/components/schemas/ValidationError"
            },
            "type": "array",
            "title": "Detail"
        }
    },
    "type": "object",
    "title": "HTTPValidationError"
}

POST /peristaltic/stop-all

Stop all peristaltic pumps

Description

Emergency stop all peristaltic pumps.

Responses

200 OK

application/json

[
    {
        "success": true,
        "pump_name": "string",
        "message": "string",
        "error": null
    }
]

⚠️ This example has been generated automatically from the schema and it is not accurate. Refer to the schema for more information.

Schema of the response body

{
    "items": {
        "$ref": "#/components/schemas/habitat__models__peristaltic__CommandResponse"
    },
    "type": "array",
    "title": "Response Stop All Peristaltic Stop All Post"
}

Schemas

AbsoluteMoveRequest

Name	Type	Description
`position_increments`		Absolute position in increments
`position_ul`		Absolute position in microliters
`top_speed_ul_per_s`		Optional top plunger speed in µL/s to apply before the move. When omitted, the firmware's previously-set speed is used.

AtomicCallRequest

Name	Type	Description
`params`		Atomic parameters keyed by the names declared in the manifest.

AtomicManifest

Name	Type	Description
`authored_by`	string
`belongs_to_routines`	Array<string>
`blocking`
`description`	string
`device_kind`	string
`emits_metrics`	Array<string>	Advisory list of metric names this atomic is expected to emit. Not populated by any atomic today and not enforced or cross-checked against the telemetry layer -- agent-read-only metadata, not a live emission guarantee.
`estimated_fluid_volume_ul`
`estimated_wear`	string	Advisory relative wear estimate. Not derived from any measurement and not read by the runtime -- agent-read-only metadata for planning, not a calibrated cost model.
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`kind`	string
`last_calibrated`
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reverse_atomic`		Advisory pointer to the atomic that would undo this one. Not populated by any atomic today and not enforced or invoked by the runtime -- agent-read-only metadata, not a guarantee a reverse operation exists or is registered.
`reversible`	boolean
`side_effects`	Array<string>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`validated_on_hardware`	Array<string>
`version`	string

CreateEventRequest

Name	Type	Description
`action`	string	Action type (e.g. 'feed', 'wash')
`color`	string
`duration_min`	number
`notes`	string
`parameters`
`sample_id`	string	Target sample ID
`series_id`
`start_time`	string	Scheduled start (ISO 8601)

CurrentLimitRequest

Name	Type	Description
`current_limit_ma`	integer	Current limit in mA (Tic 36v4 max: 4000)

DeviceRef

Name	Type	Description
`id`	string
`kind`	string

DoseRequest

Name	Type	Description
`block`	boolean	Wait for motion to complete before returning
`direction`	FlowDirection	Flow direction
`volume_ml`	number	Volume to pump in mL

ExecuteRoutineRequest

Name	Type	Description
`params`		Routine parameters keyed by the names declared in the manifest.

FailureMode

Name	Type	Description
`error_class`	string
`recommended_recovery`	Array<RecoveryStep>
`when`	string

FlowDirection

Type: string

ForeachBlock-Input

Name	Type	Description
`as_var`	string	Loop variable name. Body placeholders ``{}`` are replaced with the current element on each iteration.
`list_param`	string	Placeholder name (without braces) for the list parameter, e.g. 'samples' resolves to the value of bound_params['samples'].
`steps`	Array<RoutineStep-Input>	Step body executed once per list element.

ForeachBlock-Output

Name	Type	Description
`as_var`	string	Loop variable name. Body placeholders ``{}`` are replaced with the current element on each iteration.
`list_param`	string	Placeholder name (without braces) for the list parameter, e.g. 'samples' resolves to the value of bound_params['samples'].
`steps`	Array<RoutineStep-Output>	Step body executed once per list element.

habitatmodelscentris__CommandResponse

Name	Type	Description
`addr`	integer
`data`
`error_code`	integer
`error_message`	string
`message`	string
`success`	boolean

habitatmodelscentris__InitDirection

Type: string

habitatmodelscentris__InitRequest

Name	Type	Description
`direction`	habitat__models__centris__InitDirection
`init_gap_increments`		Optional one-shot post-init plunger gap in increments. If provided, ``set_init_gap`` is called BEFORE the Z command on this initialization only. ``None`` means use the previously-configured gap (firmware default ~1600 if never set). DANGER: see ``POST /pumps/{addr}/init-gap`` for hazard details. This path requires ``gap_increments >= 100`` (the safety floor) — there is no override field on this endpoint. Use the dedicated ``/init-gap`` endpoint with ``override_safety_floor=true`` if you must persist a sub-floor value before initialization.
`input_port`	integer	Distribution-valve input port for homing. Use ``0`` (or omit) for auto-selection from the pump YAML ``port_map``: first waste role, else first port not listed in the map, else port 1. JSON may use the field name ``init_port`` as an alias.
`output_port`	integer	Init output port (0=default)
`speed`	integer	Init speed code

habitatmodelsperistaltic__CommandResponse

Name	Type	Description
`error`
`message`	string
`pump_name`	string
`success`	boolean

habitatmodelssmartvalve__CommandResponse

Name	Type	Description
`addr`	integer
`data`
`error_code`	integer
`error_message`	string
`message`	string
`success`	boolean

habitatmodelssmartvalve__InitDirection

Type: string

habitatmodelssmartvalve__InitRequest

Name	Type	Description
`direction`	habitat__models__smartvalve__InitDirection
`input_port`	integer	Init input port (0=default)
`output_port`	integer	Init output port (0=default)
`speed`	integer	Init speed code

Hazard

Name	Type	Description
`agent_guidance`	string
`condition`	string
`id`	string
`severity`	string

HTTPValidationError

Name	Type	Description
`detail`	Array<ValidationError>

Job

Name	Type	Description
`cancel_requested`	boolean
`created_at`	string(date-time)
`created_by`
`error`
`finished_at`
`id`	string
`idempotency_key`
`params`
`parent_id`
`progress`
`request_id`	string
`result`
`started_at`
`status`	JobStatus
`targets`	Array<DeviceRef>
`type`	string

JobProgress

Name	Type	Description
`current_step`	string
`note`
`step_index`
`total_steps`

JobStatus

Type: string

JobSubmissionBody

Name	Type	Description
`params`		Runnable-specific request body
`targets`		Optional list of device references the job acts on. If omitted, the runnable receives an empty target list.
`type`	string	Registered runnable name (e.g. 'actions.wash')

LoopBlock-Input

Name	Type	Description
`count`		Iteration count. Integer literal or ``{}`` resolved against the routine scope at run time.
`steps`	Array<RoutineStep-Input>	Step body executed once per iteration.

LoopBlock-Output

Name	Type	Description
`count`		Iteration count. Integer literal or ``{}`` resolved against the routine scope at run time.
`steps`	Array<RoutineStep-Output>	Step body executed once per iteration.

MoveRequest

Name	Type	Description
`block`	boolean	Wait for motion to complete before returning
`relative`	boolean	If True, move relative to current position. If False, absolute.
`steps`	integer	Number of microsteps (positive = forward, negative = reverse)

ParallelBlock-Input

Name	Type	Description
`steps`	Array<RoutineStep-Input>	Steps executed concurrently.

ParallelBlock-Output

Name	Type	Description
`steps`	Array<RoutineStep-Output>	Steps executed concurrently.

ParamSpec

Name	Type	Description
`default`
`name`	string
`range`
`required`	boolean
`semantic_role`	string
`type`	string
`unit`

PeristalticStatus

Name	Type	Description
`current_limit_ma`
`current_position`	integer
`current_velocity`	integer
`energized`	boolean
`errors`	string
`flow_rate_ul_min`	number
`max_speed`
`name`	string
`operation_state`	string
`planning_mode`	string
`ready`	boolean
`serial_number`
`step_mode`	integer
`target_position`	integer
`vin_voltage`

PlungerMoveRequest

Name	Type	Description
`increments`		Position in increments
`volume_ul`		Volume in microliters

Postcondition

Name	Type	Description
`description`	string
`state`

Precondition

Name	Type	Description
`check_id`	string
`description`	string
`on_fail_atomic`

PrimeRequest

Name	Type	Description
`seconds`	number	Duration to run in seconds (max 5 minutes)
`velocity`	integer	Velocity in microsteps per 10,000 seconds

ProblemDetails

Name	Type	Description
`detail`
`instance`
`request_id`
`status`	integer	HTTP status code
`title`	string	Short human-readable summary
`type`	string	Problem type URI

ProtocolDefaults

Name	Type	Description
`chip_id`
`pump_name`
`sample_id`
`speed_code`
`timeout_s`

ProtocolManifest

Name	Type	Description
`author`	string
`color`
`composes_atomics`	Array<string>
`composes_routines`	Array<string>
`created_at`
`defaults`	ProtocolDefaults
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_duration_ms`
`estimated_wear`	string
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`icon`
`last_calibrated`
`library`	string
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`schedule_items`	Array<ProtocolScheduleItem>
`scope`	string
`side_effects`	Array<string>
`status`	string
`summary`	string
`tags`	Array<string>
`tier`	string
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

ProtocolPlan

Name	Type	Description
`anchor_time`	string
`bound_params`
`ended_at`
`protocol_name`	string
`protocol_version`	string
`run_id`	string
`started_at`	string(date-time)
`status`	string
`step_results`	Array<ScheduleSubmission>
`submissions`	Array<ScheduleSubmission>

ProtocolScheduleItem

Name	Type	Description
`atomic`
`item_id`	string
`label`	string
`params`
`routine`
`sample_id`
`schedule`	ScheduleSpec

PumpStatus

Name	Type	Description
`addr`	integer
`cutoff_speed_inc_per_s`	integer
`error_code`	integer
`error_message`	string
`firmware`
`initialized`	boolean
`name`	string
`operating_time_min`
`plunger_position_increments`	integer
`plunger_position_ul`
`ready`	boolean
`start_speed_inc_per_s`	integer
`syringe_volume_ul`	integer
`temperature_f`
`top_speed_inc_per_s`	number
`valve_position`	integer
`valve_type`	string
`voltage`

QueryResponse

Name	Type	Description
`addr`	integer
`parsed_value`
`raw_value`	string
`register`		Register identifier

RecoveryStep

Name	Type	Description
`atomic_name`	string
`delay_ms_between_attempts`	integer
`expected_postcondition`
`max_attempts`	integer
`params`
`rationale`	string
`verify_with`

RoutineManifest-Input

Name	Type	Description
`authored_by`	string
`blocking`	boolean
`chip_aware`	boolean
`composes`	Array<string>
`created_at`
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_fluid_volume_ul`
`estimated_wear`	string
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`last_calibrated`
`library`	string
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reversible`	boolean
`side_effects`	Array<string>
`steps`	Array<RoutineStep-Input>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

RoutineManifest-Output

Name	Type	Description
`authored_by`	string
`blocking`	boolean
`chip_aware`	boolean
`composes`	Array<string>
`created_at`
`description`	string
`device_kinds`	Array<string>
`device_name`
`emits_metrics`	Array<string>
`estimated_fluid_volume_ul`
`estimated_wear`	string
`expected_duration_ms`
`failure_modes`	Array<FailureMode>
`file_path`
`hazards`	Array<Hazard>
`idempotent`	boolean
`interrupted_state`	string
`last_calibrated`
`library`	string
`mutates`	Array<string>
`name`	string
`params`	Array<ParamSpec>
`postconditions`	Array<Postcondition>
`preconditions`	Array<Precondition>
`requires_human_confirmation`	boolean
`requires_state`
`reversible`	boolean
`side_effects`	Array<string>
`steps`	Array<RoutineStep-Output>
`summary`	string
`tier`	string
`typical_predecessors`	Array<string>
`typical_successors`	Array<string>
`updated_at`
`validated_on_hardware`	Array<string>
`version`	string

RoutineStep-Input

Name	Type	Description
`atomic`
`delay_after_ms`	integer
`foreach`
`label`	string
`loop`
`max_retries`	integer
`on_error`	string
`parallel`
`params`
`routine`

RoutineStep-Output

Name	Type	Description
`atomic`
`delay_after_ms`	integer
`foreach`
`label`	string
`loop`
`max_retries`	integer
`on_error`	string
`parallel`
`params`
`routine`

RoutineValidationReport

Name	Type	Description
`is_valid`	boolean
`issues`	Array<ValidationIssue>
`manifest`

RunProtocolRequest

Name	Type	Description
`bound_params`		Bindings for the protocol's declared params.

ScheduleSpec

Name	Type	Description
`duration_min`
`event_duration_min`
`interval_min`
`kind`	string
`offset_min`

ScheduleSubmission

Name	Type	Description
`atomic`
`duration_ms`	integer
`error`
`event_id`	string
`fire_at`	string
`job_id`
`label`	string
`params`
`routine`
`status`	string
`step_id`	string
`step_index`	integer
`target_kind`	string
`target_name`	string

SensorListEntry

Name	Type	Description
`connected`	boolean
`driver_mode`	string
`id`	string
`label`	string

SensorListResponse

Name	Type	Description
`sensors`	Array<SensorListEntry>

SensorReading

Name	Type	Description
`co2_pct`
`humidity_pct`
`sample_count`	integer
`sample_rate_hz`	number
`temperature_c`
`timestamp`
`warming_up`	boolean

SensorStatus

Name	Type	Description
`connected`	boolean
`csv_path`
`driver_mode`	string
`id`	string
`label`	string
`last_reading_at`
`malformed_frame_count`	integer
`port`
`sample_count`	integer
`sample_rate_hz`	number
`warming_up`	boolean

SpeedConfigRequest

Name	Type	Description
`max_accel`		Maximum acceleration in microsteps/s per 100 s
`max_decel`		Maximum deceleration in microsteps/s per 100 s
`max_speed`		Maximum speed in microsteps per 10,000 seconds
`starting_speed`		Starting speed in microsteps per 10,000 seconds

SpeedRequest

Name	Type	Description
`cutoff_speed_inc_per_s`		Cutoff speed in inc/s
`slope_down`		Ramp-down slope code
`slope_up`		Ramp-up slope code
`speed_code`		Predefined speed code (0-50)
`start_speed_inc_per_s`		Start speed in inc/s
`top_speed_inc_per_s`		Top speed in increments/second
`top_speed_ul_per_s`		Top speed in microliters/second

SpinRequest

Name	Type	Description
`velocity`	integer	Velocity in microsteps per 10,000 seconds (negative = reverse)

StepMode

Type: integer

StepModeRequest

Name	Type	Description
`step_mode`	StepMode	Microstepping divisor

StopRequest

Name	Type	Description
`hold`	boolean	If True, hold position (energized). If False, de-energize (freewheel).

TestRunRoutineRequest

Name	Type	Description
`params`		Routine parameters. Merged on top of the routine's manifest defaults before the executor walks the steps.

ValidateProtocolRequest

Name	Type	Description
`yaml_text`	string	Raw YAML text of the protocol manifest to validate.

ValidateRoutineRequest

Name	Type	Description
`yaml_text`	string	Raw YAML text of the routine manifest to validate.

ValidationError

Name	Type	Description
`ctx`
`input`
`loc`	Array<>
`msg`	string
`type`	string

ValidationIssue

Name	Type	Description
`code`	string
`location`	string
`message`	string
`severity`	string
`suggested_fix`

ValidationReport

Name	Type	Description
`is_valid`	boolean
`issues`	Array<ValidationIssue>
`manifest`

ValveMoveRequest

Name	Type	Description
`direction`	string	Rotation direction: 'cw' (I command) or 'ccw' (O command)
`port`	integer	Target port number

ValveStatus

Name	Type	Description
`addr`	integer
`error_code`	integer
`error_message`	string
`firmware`
`initialized`	boolean
`name`	string
`operating_time_min`
`ready`	boolean
`temperature_f`
`valve_position`	integer
`valve_type`	string
`voltage`

Peristaltic pumps

Endpoint reference

Habitat API — peristaltic 0.1.0

peristaltic

GET /peristaltic/

GET /peristaltic/{name}

GET /peristaltic/{name}/ready

POST /peristaltic/{name}/spin

POST /peristaltic/{name}/stop

POST /peristaltic/{name}/move

POST /peristaltic/{name}/dose

POST /peristaltic/{name}/prime

POST /peristaltic/{name}/step-mode

POST /peristaltic/{name}/current-limit

POST /peristaltic/{name}/speed-profile

POST /peristaltic/{name}/energize

POST /peristaltic/{name}/deenergize

POST /peristaltic/{name}/reset

POST /peristaltic/{name}/clear-errors

POST /peristaltic/stop-all

Schemas

AbsoluteMoveRequest

AtomicCallRequest

AtomicManifest

CreateEventRequest

CurrentLimitRequest

DeviceRef

DoseRequest

ExecuteRoutineRequest

FailureMode

FlowDirection

ForeachBlock-Input

ForeachBlock-Output

habitat__models__centris__CommandResponse

habitat__models__centris__InitDirection

habitat__models__centris__InitRequest

habitat__models__peristaltic__CommandResponse

habitat__models__smartvalve__CommandResponse

habitat__models__smartvalve__InitDirection

habitat__models__smartvalve__InitRequest

Hazard

HTTPValidationError

Job

JobProgress

JobStatus

JobSubmissionBody

LoopBlock-Input

LoopBlock-Output

MoveRequest

ParallelBlock-Input

ParallelBlock-Output

ParamSpec

PeristalticStatus

PlungerMoveRequest

Postcondition

Precondition

PrimeRequest

ProblemDetails

ProtocolDefaults

ProtocolManifest

ProtocolPlan

ProtocolScheduleItem

PumpStatus

QueryResponse

RecoveryStep

RoutineManifest-Input

RoutineManifest-Output

RoutineStep-Input

RoutineStep-Output

RoutineValidationReport

RunProtocolRequest

ScheduleSpec

ScheduleSubmission

SensorListEntry

SensorListResponse

SensorReading

SensorStatus

SpeedConfigRequest

SpeedRequest

SpinRequest

habitatmodelscentris__CommandResponse

habitatmodelscentris__InitDirection

habitatmodelscentris__InitRequest

habitatmodelsperistaltic__CommandResponse

habitatmodelssmartvalve__CommandResponse

habitatmodelssmartvalve__InitDirection

habitatmodelssmartvalve__InitRequest