Add Hettich robotic centrifuge driver

docs/_static/devices.json

@@ -517,6 +517,22 @@
     "manager": "https://discuss.pylabrobot.org/u/rickwierenga",
     "oem": "https://www.hamiltoncompany.com/microlab-vantage"
   },
+  {
+    "id": "hettich-mikro-220-robotic",
+    "vendor": "Hettich",
+    "name": "MIKRO 220 Robotic",
+    "kind": "centrifuge",
+    "capabilities": [
+      "centrifuging"
+    ],
+    "status": "full",
+    "api": "pylabrobot.hettich.HettichMikro220RoboticCentrifuge",
+    "api_version": "v1",
+    "code_slug": "hettich/centrifuge",
+    "doc_slug": "hettich/mikro-220/hello-world",
+    "manager": "https://discuss.pylabrobot.org/u/rickwierenga",
+    "oem": "https://www.hettichlab.com/products/centrifuges/automated-centrifuges/mikro-220-robotic/"
+  },
   {
     "id": "hettich-rotanta-460",
     "vendor": "Hettich",

docs/api/pylabrobot.hettich.rst

@@ -0,0 +1,24 @@
+.. currentmodule:: pylabrobot.hettich
+
+pylabrobot.hettich package
+==========================
+
+.. currentmodule:: pylabrobot.hettich.centrifuge
+
+.. autosummary::
+  :toctree: _autosummary
+  :nosignatures:
+  :recursive:
+
+    HettichMikro220RoboticCentrifuge
+    HettichRotanta460RoboticCentrifuge
+    HettichRotina380RoboticCentrifuge
+    HettichRotina380RRoboticCentrifuge
+    HettichRoboticCentrifuge
+    HettichCooledRoboticCentrifuge
+    HettichCentrifugeError
+    HettichCommunicationError
+    HettichCommandError
+    CentrifugeStatus
+    HatchStatus
+    RotorSpecification

docs/api/pylabrobot.rst

@@ -28,6 +28,7 @@ Manufacturers
     pylabrobot.cole_parmer
     pylabrobot.curiox
     pylabrobot.hamilton
+    pylabrobot.hettich
     pylabrobot.high_res
     pylabrobot.inheco
     pylabrobot.kbioscience

docs/contributor_guide/event-schemas.md

@@ -219,7 +219,7 @@ one is assigned at operation start.
 
 | Operation | Fields | Notes |
 | --- | --- | --- |
-| `centrifuge.spin` | `device`, `resources`, `bucket_resources`, `relative_centrifugal_force`, `duration`, `acceleration_fraction`, `deceleration_fraction` | Describes one requested spin cycle. |
+| `centrifuge.spin` | `device`, `resources`, `bucket_resources`, `duration`; at least one of `relative_centrifugal_force` or `speed_rpm`; optional `acceleration_fraction`, `deceleration_fraction` | Describes one requested spin cycle using the frontend's requested force or speed. |
 
 `resources` contains directly loaded resources only. Empty buckets are not represented.
 `bucket_resources` preserves the association between each loaded resource and its holder:
@@ -231,6 +231,11 @@ one is assigned at operation start.
 }
 ```
 
+A frontend without a PLR rotor-resource model emits empty `resources` and `bucket_resources`.
+Hettich centrifuges report the requested `speed_rpm`; when a rotor catalog number is configured,
+they also report the corresponding calculated `relative_centrifugal_force`. VSpin reports the
+requested `relative_centrifugal_force`, `acceleration_fraction`, and `deceleration_fraction`.
+
 `relative_centrifugal_force` is the dimensionless multiple of standard gravity conventionally
 written as x g. Acceleration and deceleration are fractions of the device maximum.
 

docs/user_guide/hettich/events.md

@@ -0,0 +1,14 @@
+# Hettich robotic centrifuge events
+
+Each semantic operation emits `started`, `completed`, or `failed` lifecycle records. Hettich uses
+the same canonical centrifuge operation name and common payload fields as other PyLabRobot
+centrifuge frontends, including VSpin.
+
+| Operation | Primary fields |
+| --- | --- |
+| `centrifuge.spin` | `device`, empty `resources`, empty `bucket_resources`, `speed_rpm`, `duration`, optional `relative_centrifugal_force` |
+
+The driver reports the requested rotor speed as `speed_rpm`. If it was constructed with a supported
+`rotor_catalog_number`, it also calculates and reports `relative_centrifugal_force`. The Hettich
+frontend does not currently model rotor positions as PLR resource holders, so both resource lists
+are empty.

docs/user_guide/hettich/index.md

@@ -0,0 +1,8 @@
+# Hettich
+
+```{toctree}
+:maxdepth: 1
+
+mikro-220/hello-world
+events
+```