Moves the carousel module to the specified degree of rotation and height. First moves the carousel z-axis to safe_height, then rotates the plate to the desired angle, then moves the z-axis down to the target height. A position of (0*, 0mm) corresponds to the home position.

move_carousel(self, rot_deg: float, z_mm: float, safe_height: int = 0, vel: Optional[int] = None, accel: Optional[int] = None)

rot_deg: float

The target angle of rotation relative to the home position, in degrees.

z_mm: float

The amount to lower the carousel z-axis in mm relative to the top position.

safe_height: int, optional

The height to raise the carousel to before rotating the plate, in units of counts.

vel: int, optional

Max velocity of the move in units of counts per second [0, 100000]. Values [0, 100] are interpreted as a percentage of the maximum velocity (100,000 cts/s). If the accel parameter is not given, the acceleration will be set to 10x the  velocity in units of cts/s². Note velocity scaling may occur, as explained in goto function description.

accel: int, optional

Constant acceleration of the axis to reach the given velocity, in units of counts per second² [0, 500000]. Values [0, 100] are interpreted as a percentage of the  maximum acceleration (500,000 cts/s²).