Upgrade Agilent VSpin and Access2 protocol drivers

docs/_static/devices.json

@@ -57,6 +57,7 @@
     "api": "pylabrobot.agilent.vspin.Access2",
     "api_version": "v1",
     "code_slug": "agilent/vspin",
+    "doc_slug": "agilent/vspin/hello-world",
     "manager": "https://discuss.pylabrobot.org/u/rickwierenga",
     "oem": "https://www.agilent.com/en/product/automated-liquid-handling/automated-microplate-management/microplate-centrifuge"
   },

docs/api/pylabrobot.agilent.rst

@@ -99,6 +99,8 @@ VSpin
     VSpin
     Access2
     Access2Driver
+    ServoStatus
+    Access2Status
 
 
 PlateLoc

docs/user_guide/agilent/vspin/hello-world.ipynb

@@ -22,7 +22,7 @@
     "```{warning}\n",
     "Follow the centrifuge manufacturer's installation, plate-compatibility, balancing, and safety\n",
     "instructions. Before every run, use two opposing loads of equal mass and make sure both are fully\n",
-    "seated. The driver does not provide a public software abort command, so keep the instrument's\n",
+    "seated. `stop_spin()` provides a controlled software abort, but always keep the instrument's\n",
     "physical controls accessible.\n",
     "```"
    ]
@@ -275,6 +275,22 @@
     ")"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "id": "vspin-abort-md",
+   "metadata": {},
+   "source": [
+    "## Abort an active spin safely\n",
+    "\n",
+    "If another task needs to abort a running `spin()` call, use `stop_spin()`. It sends a controlled\n",
+    "zero-velocity trajectory and returns only after the tachometer confirms that the rotor stopped.\n",
+    "The physical emergency stop remains the authority for an emergency.\n",
+    "\n",
+    "```python\n",
+    "await vspin.stop_spin(deceleration=0.8)\n",
+    "```"
+   ]
+  },
   {
    "cell_type": "markdown",
    "id": "vspin-return-bucket1-md",

pylabrobot/agilent/vspin/README.md

@@ -0,0 +1,3 @@
+# VSpin
+
+Special thanks to Reed Kelso for generously sharing his code on Agilent VSpin and Access2 in the [`vspin-cockpit`](https://github.com/kelsorj/vspin-cockpit) repository.

pylabrobot/agilent/vspin/__init__.py

@@ -1,2 +1,4 @@
+from pylabrobot.agilent.vspin._access2_protocol import Access2Status
+from pylabrobot.agilent.vspin._nmc import ServoStatus
 from pylabrobot.agilent.vspin.access2 import Access2, Access2Driver
 from pylabrobot.agilent.vspin.vspin import VSpin