STARBackend.pick_up_tips96 tip_pickup_method is a literal

Author: rickwierenga

pylabrobot/liquid_handling/backends/hamilton/STAR_backend.py

@@ -2471,11 +2471,41 @@ async def dispense(
   async def pick_up_tips96(
     self,
     pickup: PickupTipRack,
-    tip_pickup_method: int = 0,
+    tip_pickup_method: Literal["from_rack", "from_waste", "full_blowout"] = "from_rack",
     minimum_height_command_end: Optional[float] = None,
     minimum_traverse_height_at_beginning_of_a_command: Optional[float] = None,
   ):
-    """Pick up tips using the 96 head."""
+    """Pick up tips using the 96 head.
+
+    `tip_pickup_method` can be one of the following:
+        - "from_rack": standard tip pickup from a tip rack. this moves the plunger all the way down before mouting tips.
+        - "from_waste":
+            1. it actually moves the plunger all the way up
+            2. mounts tips
+            3. moves up like 10mm
+            4. moves plunger all the way down
+            5. moves to traversal height (tips out of rack)
+        - "full_blowout":
+            1. it actually moves the plunger all the way up
+            2. mounts tips
+            3. moves to traversal height (tips out of rack)
+
+    Args:
+      pickup: The standard `PickupTipRack` operation.
+      tip_pickup_method: The method to use for picking up tips. One of "from_rack", "from_waste", "full_blowout".
+      minimum_height_command_end: The minimum height to move to at the end of the command.
+      minimum_traverse_height_at_beginning_of_a_command: The minimum height to move to at the beginning of the command.
+    """
+
+    if isinstance(tip_pickup_method, int):
+      warnings.warn(
+        "tip_pickup_method as int is deprecated and will be removed in the future. Use string literals instead.",
+        DeprecationWarning,
+      )
+      tip_pickup_method = {0: "from_rack", 1: "from_waste", 2: "full_blowout"}[tip_pickup_method]
+
+    if tip_pickup_method not in {"from_rack", "from_waste", "full_blowout"}:
+      raise ValueError(f"Invalid tip_pickup_method: '{tip_pickup_method}'.")
 
     assert self.core96_head_installed, "96 head must be installed"
 
@@ -2516,7 +2546,11 @@ async def pick_up_tips96(
         x_direction=0 if pickup_position.x >= 0 else 1,
         y_position=round(pickup_position.y * 10),
         tip_type_idx=ttti,
-        tip_pickup_method=tip_pickup_method,
+        tip_pickup_method={
+          "from_rack": 0,
+          "from_waste": 1,
+          "full_blowout": 2,
+        }[tip_pickup_method],
         z_deposit_position=round(pickup_position.z * 10),
         minimum_traverse_height_at_beginning_of_a_command=round(
           (minimum_traverse_height_at_beginning_of_a_command or self._channel_traversal_height) * 10