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        "description": "# North Devices (`north_devices`)\n\nThe `north_devices` library contains drivers and utilities for third-party devices that can be used in the North \nRobotics ecosystem.\n\n## Installation\n\nRun `pip install north_devices` to install, or add `north_devices` to your `requirements.txt` file.\n\n## Pumps (`north_devices.pumps`)\n\n### Tecan Cavro (`tecan_cavro`)\n\nThere is a driver for the Tecan Cavro series of pumps available that uses the binary protocol to communicate with \nCavro pumps on a network.\n\n#### Usage\n\n```python\nfrom ftdi_serial import Serial\nfrom north_devices.pumps.tecan_cavro import TecanCavro\n\nserial = Serial(baudrate=38400)  # Cavro pumps default to 9600\ncavro = TecanCavro(serial, address=0, syringe_volume_ml=1000)\n\nTecanCavro.home_all()  # Homes all TecanCavro pump instances\n\n# you can perform absolute and relative moves in counts or mL, with optional velocity\ncavro.move_absolute_counts(500)\ncavro.move_absolute_ml(1000, velocity_counts=500)\ncavro.move_relative_counts(100, velocity_counts=1000)\ncavro.move_relative_ml(500)\n\n# you can change valve positions with `move_valve`\ncavro.move_valve(1)  # moves valve to port 1\n\n# there is also a higher-level dispense method that pumps from a port to a port\ncavro.dispense_ml(2000, from_port=1, to_port=2)\n\n# you can also batch a series of commands to be sent at once\ncavro.start_batch()\ncavro.move_valve(1)\ncavro.move_absolute_ml(500)\ncavro.move_valve(2)\ncavro.move_absolute_ml(0)\ncavro.execute()  # you can use the `broadcast=True` flag to execute batch commands for all pumps at once\n\n# there is also a basic loop command that can be used in a batch command\ncavro.loop_start()\ncavro.move_valve(1)\ncavro.move_absolute_ml(500)\ncavro.move_valve(2)\ncavro.move_absolute_ml(0)\ncavro.loop_end(10)  # loop 10 times\n\ncavro.execute()\n\n# multiple cavro instances can share the same serial connection if they are on a network\nnetwork = Serial(baudrate=9600)\ncavro1 = TecanCavro(network, 0)\ncavro2 = TecanCavro(network, 1)\n\n# you can send batch commands to multiple cavros then execture them simultaneously\ncavro1.start_batch()\ncavro1.move_relative_ml(100)\n\ncavro2.start_batch()\ncavro2.move_absolute_ml(100)\n\nTecanCavro.broadcast_execute(cavro1, cavro2)  # this will broadcast to all pumps if none given\n\n```",
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