Registers a peristaltic pump and its physical properties. Must be done before sending any commands to the pump.

initialize_peristaltic(self, name: str, ml_per_cnt: float, axis: int, vel: int = 500, accel: int = 10000)

name: str

Set the name used to identify the pump for future commands.

ml_per_cnt: float

The relationship between the pump's rotation, in units of counts, and the volume it dispenses, in units of mL. This quantity is speed dependent and should be determined empirically for each pump by testing at a representative speed. Faster speeds result in fewer mL/ct being dispensed.

axis: int

The axis the pump is connected to [0, 7]

vel: int, optional

The default velocity of the pump in units of cts/s. Can be configured for individual dispenses.

accel: int, optional

The default acceleration of the pump in units of cts/s². Can be configured for individual dispenses.