Add Hettich robotic centrifuge driver

docs/_static/devices.json

@@ -526,16 +526,26 @@
     "oem": "https://www.hamiltoncompany.com/microlab-vantage"
   },
   {
-    "id": "hettich-rotanta-460",
+    "id": "hettich-robotic-centrifuges",
     "vendor": "Hettich",
-    "name": "ROTANTA 460 Robotic",
+    "name": "Robotic centrifuges",
+    "models": [
+      {"name": "MIKRO 220 Robotic", "status": "full"},
+      {"name": "ROTANTA 460 Robotic", "status": "wip"},
+      {"name": "ROTINA 380 Robotic", "status": "wip"},
+      {"name": "ROTINA 380 R Robotic", "status": "wip"}
+    ],
     "kind": "centrifuge",
     "capabilities": [
       "centrifuging"
     ],
     "status": "wip",
+    "api": "pylabrobot.hettich.HettichRoboticCentrifuge",
+    "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/rotanta-460-robotic/"
+    "notes": "Only MIKRO 220 Robotic has been hardware-validated with this driver. ROTANTA 460 Robotic, ROTINA 380 Robotic, and ROTINA 380 R Robotic have model-specific protocol configurations but have not been verified on hardware."
   },
   {
     "id": "hettich-sbs-300r",

docs/api/pylabrobot.hettich.rst

@@ -0,0 +1,25 @@
+.. 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
+    HettichMachineState
+    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

@@ -330,7 +330,7 @@ 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`, `relative_centrifugal_force`, `duration`; optional `acceleration_fraction`, `deceleration_fraction` | Describes one requested spin cycle. |
 
 `resources` contains directly loaded resources only. Empty buckets are not represented.
 `bucket_resources` preserves the association between each loaded resource and its holder:
@@ -342,6 +342,10 @@ one is assigned at operation start.
 }
 ```
 
+A frontend without a PLR rotor-resource model emits empty `resources` and `bucket_resources`.
+Hettich and VSpin report the requested `relative_centrifugal_force`. VSpin also reports
+`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 +1,15 @@
+# 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`, `relative_centrifugal_force`, `duration` |
+
+The driver reports the requested `g` as `relative_centrifugal_force`, in multiples of standard
+gravity (× g), including when the value was calculated with `rpm_to_g()`. Conversion to the
+device's integer RPM happens internally; the event preserves the requested force without
+rounding it to the achievable RPM. 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 +1,9 @@
+# Hettich
+
+```{toctree}
+:maxdepth: 1
+
+mikro-220/hello-world
+events
+state
+```