From 3f1c3a35d91e894718267793841a9c3c7974e282 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <82800265+kjy5@users.noreply.github.com>
Date: Fri, 15 Dec 2023 12:02:23 -0800
Subject: [PATCH] 233 fix docstrings (#275)

* Fix boolean print

* Fixed common

* Fixed platform handler

* Added data info for input format, fixed server

* Fixed platform comments, use subclassing for uMp3-3
---
 src/ephys_link/common.py                      |  90 ++++++---
 src/ephys_link/platform_handler.py            | 171 +++++-------------
 .../platforms/new_scale_manipulator.py        |  54 +++---
 .../platforms/new_scale_pathfinder_handler.py |  43 ++---
 src/ephys_link/platforms/sensapex_handler.py  |   7 +-
 .../platforms/sensapex_manipulator.py         |  47 +++--
 src/ephys_link/platforms/ump3_handler.py      | 102 +----------
 src/ephys_link/platforms/ump3_manipulator.py  | 124 ++-----------
 src/ephys_link/server.py                      | 150 ++++++++-------
 9 files changed, 273 insertions(+), 515 deletions(-)

diff --git a/src/ephys_link/common.py b/src/ephys_link/common.py
index ae4ee4d..e11b63d 100644
--- a/src/ephys_link/common.py
+++ b/src/ephys_link/common.py
@@ -14,9 +14,9 @@
 
 
 def dprint(message: str) -> None:
-    """Print message if debug is enabled
+    """Print message if debug is enabled.
 
-    :param message: Message to print
+    :param message: Message to print.
     :type message: str
     :return: None
     """
@@ -26,30 +26,60 @@ def dprint(message: str) -> None:
 
 # Input data formats
 class GotoPositionInputDataFormat(TypedDict):
-    """Data format for :func:`server.goto_pos`"""
+    """Data format for positional requests.
+
+    :param manipulator_id: ID of the manipulator to move.
+    :type manipulator_id: str
+    :param pos: Position to move to in mm (X, Y, Z, W).
+    :type pos: list[float]
+    :param speed: Speed to move at in mm/s.
+    :type speed: float
+    """
 
     manipulator_id: str
     pos: list[float]
-    speed: int
+    speed: float
 
 
 class InsideBrainInputDataFormat(TypedDict):
-    """Data format for :func:`server.set_inside_brain`"""
+    """Data format for setting inside brain state.
+
+    :param manipulator_id: ID of the manipulator to move.
+    :type manipulator_id: str
+    :param inside: Whether the manipulator is inside the brain.
+    :type inside: bool
+    """
 
     manipulator_id: str
     inside: bool
 
 
 class DriveToDepthInputDataFormat(TypedDict):
-    """Data format for :func:`server.drive_to_depth`"""
+    """Data format for depth driving requests.
+
+    :param manipulator_id: ID of the manipulator to move.
+    :type manipulator_id: str
+    :param depth: Depth to drive to in mm.
+    :type depth: float
+    :param speed: Speed to drive at in mm/s.
+    :type speed: float
+    """
 
     manipulator_id: str
     depth: float
-    speed: int
+    speed: float
 
 
 class CanWriteInputDataFormat(TypedDict):
-    """Data format for :func:`server.set_can_write`"""
+    """Data format for setting can write state.
+
+    :param manipulator_id: ID of the manipulator to move.
+    :type manipulator_id: str
+    :param can_write: Whether the manipulator can write.
+    :type can_write: bool
+    :param hours: Number of hours the manipulator can write for.
+    :type hours: float
+    """
 
     manipulator_id: str
     can_write: bool
@@ -58,19 +88,19 @@ class CanWriteInputDataFormat(TypedDict):
 
 # Output data dictionaries
 class GetManipulatorsOutputData(dict):
-    """Output format for (manipulators)
+    """Output format for get manipulators request.
 
-    :param manipulators: Tuple of manipulator IDs (as strings)
+    :param manipulators: List of manipulator IDs (as strings).
     :type manipulators: list
-    :param num_axes: Number of axes this manipulator has
+    :param num_axes: Number of axes this manipulator has.
     :type num_axes: int
-    :param dimensions: Size of the movement space in mm (first 3 axes)
+    :param dimensions: Size of the movement space in mm (first 3 axes).
     :type dimensions: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary
-        :code:`{"manipulators": ["1", "2"], "error": ""}`
+        :code:`{"manipulators": ["1", "2"], "num_axes": 4, "dimensions": [20, 20, 20], "error": ""}`
     """
 
     def __init__(self, manipulators: list, num_axes: int, dimensions: list, error: str) -> None:
@@ -88,11 +118,11 @@ def json(self) -> str:
 
 
 class PositionalOutputData(dict):
-    """Output format for (position, error)
+    """Output format for positional requests.
 
-    :param position: Position in mm (as a tuple, can be empty) in X, Y, Z, W order
+    :param position: Position in mm (as a list, empty on error) in X, Y, Z, W order.
     :type position: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary
@@ -109,11 +139,11 @@ def json(self) -> str:
 
 
 class AngularOutputData(dict):
-    """Output format for (angles, error)
+    """Output format for manipulator angle requests.
 
-    :param angles: Angles in degrees (as a tuple, can be empty) in yaw, pitch, roll order
+    :param angles: Angles in degrees (as a list, can be empty) in yaw, pitch, roll order.
     :type angles: list
-    :param error: Error message
+    :param error: Error message.
     :type error: str
     """
 
@@ -127,11 +157,11 @@ def json(self) -> str:
 
 
 class ShankCountOutputData(dict):
-    """Output format for (num_shanks, error)
+    """Output format for number of shanks.
 
-    :param shank_count: Number of shanks on the probe
+    :param shank_count: Number of shanks on the probe (-1 if error).
     :type shank_count: int
-    :param error: Error message
+    :param error: Error message.
     :type error: str
     """
 
@@ -145,14 +175,14 @@ def json(self) -> str:
 
 
 class DriveToDepthOutputData(dict):
-    """Output format for depth driving (depth, error)
+    """Output format for depth driving.
 
-    :param depth: Depth in mm
+    :param depth: Depth in mm (0 on error).
     :type depth: float
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
-    :example: Example generated dictionary :code:`{"depth": 0.123, "error": ""}`
+    :example: Example generated dictionary :code:`{"depth": 1.23, "error": ""}`
     """
 
     def __init__(self, depth: float, error: str) -> None:
@@ -165,11 +195,11 @@ def json(self) -> str:
 
 
 class StateOutputData(dict):
-    """Output format for (state, error)
+    """Output format for boolean state requests.
 
-    :param state: State of the event
+    :param state: State of the event.
     :type state: bool
-    :param error: Error message
+    :param error: Error message.
     :type error: str
 
     :example: Example generated dictionary :code:`{"state": True, "error": ""}`
diff --git a/src/ephys_link/platform_handler.py b/src/ephys_link/platform_handler.py
index cfbeb9b..1f7b7b0 100644
--- a/src/ephys_link/platform_handler.py
+++ b/src/ephys_link/platform_handler.py
@@ -40,9 +40,9 @@ def __init__(self):
     # Platform Handler Methods
 
     def reset(self) -> bool:
-        """Reset handler
+        """Reset handler.
 
-        :return: True if successful, False otherwise
+        :return: True if successful, False otherwise.
         :rtype: bool
         """
         stop_result = self.stop()
@@ -50,9 +50,9 @@ def reset(self) -> bool:
         return stop_result
 
     def stop(self) -> bool:
-        """Stop handler
+        """Stop handler.
 
-        :return: True if successful, False otherwise
+        :return: True if successful, False otherwise.
         :rtype: bool
         """
         try:
@@ -66,28 +66,27 @@ def stop(self) -> bool:
             return True
 
     def get_manipulators(self) -> com.GetManipulatorsOutputData:
-        """Get all registered manipulators
+        """Get all registered manipulators.
 
-        :return: Callback parameters (manipulators, error)
+        :return: Result of connected manipulators, platform information, and error message (if any).
         :rtype: :class:`ephys_link.common.GetManipulatorsOutputData`
         """
-        devices = []
         error = "Error getting manipulators"
         try:
-            # noinspection PyUnresolvedReferences
             devices = self._get_manipulators()
             error = ""
         except Exception as e:
             print(f"[ERROR]\t\t Getting manipulators: {type(e)}: {e}\n")
+            return com.GetManipulatorsOutputData([], self.num_axes, self.dimensions, error)
         else:
             return com.GetManipulatorsOutputData(devices, self.num_axes, self.dimensions, error)
 
     def register_manipulator(self, manipulator_id: str) -> str:
-        """Register a manipulator
+        """Register a manipulator.
 
         :param manipulator_id: The ID of the manipulator to register.
         :type manipulator_id: str
-        :return: Callback parameter (Error message (on error))
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         # Check if manipulator is already registered
@@ -112,11 +111,12 @@ def register_manipulator(self, manipulator_id: str) -> str:
             return ""
 
     def unregister_manipulator(self, manipulator_id: str) -> str:
-        """Unregister a manipulator
+        """Unregister a manipulator.
 
         :param manipulator_id: The ID of the manipulator to unregister.
         :type manipulator_id: str
-        :return: Callback parameters (error message (on error))
+        :return: Error message on error, empty string otherwise.
+        :rtype: str
         """
         # Check if manipulator is not registered
         if manipulator_id not in self.manipulators:
@@ -126,23 +126,21 @@ def unregister_manipulator(self, manipulator_id: str) -> str:
         try:
             # Unregister manipulator
             self._unregister_manipulator(manipulator_id)
-
-            com.dprint(f"[SUCCESS]\t Unregistered manipulator: {manipulator_id}\n")
         except Exception as e:
             # Other error
             print(f"[ERROR]\t\t Unregistering manipulator: {manipulator_id}")
             print(f"{e}\n")
             return "Error unregistering manipulator"
         else:
+            com.dprint(f"[SUCCESS]\t Unregistered manipulator: {manipulator_id}\n")
             return ""
 
     def get_pos(self, manipulator_id: str) -> com.PositionalOutputData:
-        """Get the current position of a manipulator
+        """Get the current position of a manipulator.
 
         :param manipulator_id: The ID of the manipulator to get the position of.
         :type manipulator_id: str
-        :return: Callback parameters (manipulator ID, position in (x, y, z, w) (or an
-            empty array on error) in mm, error message)
+        :return: Positional information for the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         try:
@@ -165,19 +163,17 @@ def get_pos(self, manipulator_id: str) -> com.PositionalOutputData:
             if manipulator_pos["error"] != "":
                 return manipulator_pos
             return com.PositionalOutputData(self._platform_space_to_unified_space(manipulator_pos["position"]), "")
-
         except KeyError:
             # Manipulator not found in registered manipulators
             print(f"[ERROR]\t\t Manipulator not registered: {manipulator_id}")
             return com.PositionalOutputData([], "Manipulator not registered")
 
     def get_angles(self, manipulator_id: str) -> com.AngularOutputData:
-        """Get the current position of a manipulator
+        """Get the current position of a manipulator.
 
-        :param manipulator_id: The ID of the manipulator to get the position of.
+        :param manipulator_id: The ID of the manipulator to get the angles of.
         :type manipulator_id: str
-        :return: Callback parameters (angles in (yaw, pitch, roll) or an
-            empty array on error in degrees, error message)
+        :return: Angular information for the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.AngularOutputData`
         """
         try:
@@ -202,11 +198,12 @@ def get_shank_count(self, manipulator_id: str) -> com.ShankCountOutputData:
 
         :param manipulator_id: The ID of the manipulator to get the number of shanks of.
         :type manipulator_id: str
-        :return: Callback parameters (number of shanks or -1 on error, error message)
+        :return: Number of shanks on the probe.
+        :rtype: :class:`ephys_link.common.ShankCountOutputData`
         """
         return self._get_shank_count(manipulator_id)
 
-    async def goto_pos(self, manipulator_id: str, position: list[float], speed: int) -> com.PositionalOutputData:
+    async def goto_pos(self, manipulator_id: str, position: list[float], speed: float) -> com.PositionalOutputData:
         """Move manipulator to position
 
         :param manipulator_id: The ID of the manipulator to move
@@ -214,9 +211,8 @@ async def goto_pos(self, manipulator_id: str, position: list[float], speed: int)
         :param position: The position to move to in (x, y, z, w) in mm
         :type position: list[float]
         :param speed: The speed to move at (in mm/s)
-        :type speed: int
-        :return: Callback parameters (manipulator ID, position in (x, y, z, w) (or an
-                 empty array on error) in mm, error message)
+        :type speed: float
+        :return: Resulting position of the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         try:
@@ -242,7 +238,7 @@ async def goto_pos(self, manipulator_id: str, position: list[float], speed: int)
             print(f"[ERROR]\t\t Manipulator not registered: {manipulator_id}\n")
             return com.PositionalOutputData([], "Manipulator not registered")
 
-    async def drive_to_depth(self, manipulator_id: str, depth: float, speed: int) -> com.DriveToDepthOutputData:
+    async def drive_to_depth(self, manipulator_id: str, depth: float, speed: float) -> com.DriveToDepthOutputData:
         """Drive manipulator to depth
 
         :param manipulator_id: The ID of the manipulator to drive
@@ -250,9 +246,8 @@ async def drive_to_depth(self, manipulator_id: str, depth: float, speed: int) ->
         :param depth: The depth to drive to in mm
         :type depth: float
         :param speed: The speed to drive at (in mm/s)
-        :type speed: int
-        :return: Callback parameters (manipulator ID, depth (or 0 on error) in mm, error
-                 message)
+        :type speed: float
+        :return: Resulting depth of the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
         """
         try:
@@ -290,7 +285,7 @@ def set_inside_brain(self, manipulator_id: str, inside: bool) -> com.StateOutput
         :type manipulator_id: str
         :param inside: True if inside brain, False if outside
         :type inside: bool
-        :return: Callback parameters (manipulator ID, inside, error message)
+        :return: New inside brain state of the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.StateOutputData`
         """
         try:
@@ -322,7 +317,7 @@ async def calibrate(self, manipulator_id: str, sio: socketio.AsyncServer) -> str
         :type manipulator_id: str
         :param sio: SocketIO object (to call sleep)
         :type sio: :class:`socketio.AsyncServer`
-        :return: Callback parameters (manipulator ID, error message)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         try:
@@ -349,7 +344,7 @@ def bypass_calibration(self, manipulator_id: str) -> str:
 
         :param manipulator_id: ID of manipulator to bypass calibration
         :type manipulator_id: str
-        :return: Callback parameters (manipulator ID, error message)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         try:
@@ -384,7 +379,7 @@ def set_can_write(
         :type hours: float
         :param sio: SocketIO object from server to emit reset event
         :type sio: :class:`socketio.AsyncServer`
-        :return: Callback parameters (manipulator ID, can_write, error message)
+        :return: New can_write state of the manipulator and error message (if any).
         :rtype: :class:`ephys_link.common.StateOutputData`
         """
         try:
@@ -393,7 +388,6 @@ def set_can_write(
             # Manipulator not found in registered manipulators
             print(f"[ERROR]\t\t Manipulator not registered: {manipulator_id}\n")
             return com.StateOutputData(False, "Manipulator not " "registered")
-
         except Exception as e:
             # Other error
             print(f"[ERROR]\t\t Set manipulator {manipulator_id} can_write state")
@@ -404,102 +398,39 @@ def set_can_write(
 
     @abstractmethod
     def _get_manipulators(self) -> list:
-        """Get all registered manipulators
-
-        :return: List of manipulator IDs
-        :rtype: list
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _register_manipulator(self, manipulator_id: str) -> None:
-        """Register a manipulator
-
-        :param manipulator_id: The ID of the manipulator to register.
-        :type manipulator_id: str
-        :return: None
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _unregister_manipulator(self, manipulator_id: str) -> None:
-        """Unregister a manipulator
-
-        :param manipulator_id: The ID of the manipulator to unregister.
-        :type manipulator_id: str
-        :return: None
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _get_pos(self, manipulator_id: str) -> com.PositionalOutputData:
-        """Get the current position of a manipulator
-
-        :param manipulator_id: The ID of the manipulator to get the position of.
-        :type manipulator_id: int
-        :return: Callback parameters (manipulator ID, position in (x, y, z, w) (or an
-            empty array on error) in mm, error message)
-        :rtype: :class:`ephys_link.common.PositionalOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _get_angles(self, manipulator_id: str) -> com.AngularOutputData:
-        """Get the current angles of a manipulator
-
-        :param manipulator_id: The ID of the manipulator to get the position of.
-        :type manipulator_id: int
-        :return: Callback parameters (manipulator ID, position in (yaw, pitch, roll) (or an
-            empty array on error) in degrees, error message)
-        :rtype: :class:`ephys_link.common.AngularOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _get_shank_count(self, manipulator_id: str) -> com.ShankCountOutputData:
-        """Get the number of shanks on the probe
-
-        :param manipulator_id: The ID of the manipulator to get the number of shanks of.
-        :type manipulator_id: str
-        :return: Callback parameters (number of shanks or -1 on error, error message)
-        """
+        raise NotImplementedError
 
     @abstractmethod
     async def _goto_pos(self, manipulator_id: str, position: list[float], speed: int) -> com.PositionalOutputData:
-        """Move manipulator to position
-
-        :param manipulator_id: The ID of the manipulator to move
-        :type manipulator_id: str
-        :param position: The position to move to in mm
-        :type position: list[float]
-        :param speed: The speed to move at (in mm/s)
-        :type speed: int
-        :return: Callback parameters (manipulator ID, position in (x, y, z, w) (or an
-                 empty array on error) in mm, error message)
-        :rtype: :class:`ephys_link.common.PositionalOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     async def _drive_to_depth(self, manipulator_id: str, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        """Drive manipulator to depth
-
-        :param manipulator_id: The ID of the manipulator to drive
-        :type manipulator_id: str
-        :param depth: The depth to drive to in mm
-        :type depth: float
-        :param speed: The speed to drive at (in mm/s)
-        :type speed: int
-        :return: Callback parameters (manipulator ID, depth (or 0 on error), error
-                 message)
-        :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _set_inside_brain(self, manipulator_id: str, inside: bool) -> com.StateOutputData:
-        """Set manipulator inside brain state (restricts motion)
-
-        :param manipulator_id: The ID of the manipulator to set the state of
-        :type manipulator_id: str
-        :param inside: True if inside brain, False if outside
-        :type inside: bool
-        :return: Callback parameters (manipulator ID, inside, error message)
-        :rtype: :class:`ephys_link.common.StateOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     async def _calibrate(self, manipulator_id: str, sio: socketio.AsyncServer) -> str:
@@ -515,13 +446,7 @@ async def _calibrate(self, manipulator_id: str, sio: socketio.AsyncServer) -> st
 
     @abstractmethod
     def _bypass_calibration(self, manipulator_id: str) -> str:
-        """Bypass calibration of manipulator
-
-        :param manipulator_id: ID of manipulator to bypass calibration
-        :type manipulator_id: str
-        :return: Callback parameters (manipulator ID, error message)
-        :rtype: str
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _set_can_write(
@@ -531,19 +456,7 @@ def _set_can_write(
         hours: float,
         sio: socketio.AsyncServer,
     ) -> com.StateOutputData:
-        """Set manipulator can_write state (enables/disabled moving manipulator)
-
-        :param manipulator_id: The ID of the manipulator to set the state of
-        :type manipulator_id: str
-        :param can_write: True if allowed to move, False if outside
-        :type can_write: bool
-        :param hours: The number of hours to allow writing (0 = forever)
-        :type hours: float
-        :param sio: SocketIO object from server to emit reset event
-        :type sio: :class:`socketio.AsyncServer`
-        :return: Callback parameters (manipulator ID, can_write, error message)
-        :rtype: :class:`ephys_link.common.StateOutputData`
-        """
+        raise NotImplementedError
 
     @abstractmethod
     def _platform_space_to_unified_space(self, platform_position: list[float]) -> list[float]:
@@ -554,6 +467,7 @@ def _platform_space_to_unified_space(self, platform_position: list[float]) -> li
         :return: Position in unified manipulator space (x, y, z, w) in mm
         :rtype: list[float]
         """
+        raise NotImplementedError
 
     @abstractmethod
     def _unified_space_to_platform_space(self, unified_position: list[float]) -> list[float]:
@@ -564,3 +478,4 @@ def _unified_space_to_platform_space(self, unified_position: list[float]) -> lis
         :return: Position in platform space (x, y, z, w) in mm
         :rtype: list[float]
         """
+        raise NotImplementedError
diff --git a/src/ephys_link/platforms/new_scale_manipulator.py b/src/ephys_link/platforms/new_scale_manipulator.py
index c21731e..fad857a 100644
--- a/src/ephys_link/platforms/new_scale_manipulator.py
+++ b/src/ephys_link/platforms/new_scale_manipulator.py
@@ -65,10 +65,9 @@ def query_all_axes(self):
             axis.QueryPosStatus()
 
     def get_pos(self) -> com.PositionalOutputData:
-        """Get the current position of the manipulator and convert it into mm
+        """Get the current position of the manipulator and convert it into mm.
 
-        :return: Callback parameters (position in (x, y, z, 0) (or an empty array on
-            error) in mm, error message)
+        :return: Position of manipulator in (x, y, z, z) in mm (or an empty array on error) and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         self.query_all_axes()
@@ -89,14 +88,14 @@ def get_pos(self) -> com.PositionalOutputData:
             return com.PositionalOutputData([], "Error getting position")
 
     async def goto_pos(self, position: list[float], speed: float) -> com.PositionalOutputData:
-        """Move manipulator to position
+        """Move manipulator to position.
 
-        :param position: The position to move to in mm
+        :param position: The position to move to in mm.
         :type position: list[float]
-        :param speed: The speed to move at (in mm/s)
+        :param speed: The speed to move at (in mm/s).
         :type speed: float
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error), error message)
+        :return: Resulting position of manipulator in (x, y, z, z) in mm (or an empty array on error)
+         and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         # Check if able to write
@@ -159,14 +158,14 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
             print(f"{e}\n")
             return com.PositionalOutputData([], "Error moving manipulator")
 
-    async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        """Drive the manipulator to a certain depth
+    async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOutputData:
+        """Drive the manipulator to a certain depth.
 
-        :param depth: The depth to drive to in mm
+        :param depth: The depth to drive to in mm.
         :type depth: float
-        :param speed: The speed to drive at in mm/s
-        :type speed: int
-        :return: Callback parameters (depth (or 0 on error), error message)
+        :param speed: The speed to drive at in mm/s.
+        :type speed: float
+        :return: Resulting depth of manipulator in mm (or 0 on error) and error message (if any).
         :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
         """
         # Check if able to write
@@ -220,7 +219,7 @@ async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutp
             return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
 
     def calibrate(self) -> bool:
-        """Calibrate the manipulator
+        """Calibrate the manipulator.
 
         :return: None
         """
@@ -229,7 +228,7 @@ def calibrate(self) -> bool:
     def get_calibrated(self) -> bool:
         """Return the calibration state of the manipulator.
 
-        :return: True if the manipulator is calibrated, False otherwise
+        :return: True if the manipulator is calibrated, False otherwise.
         :rtype: bool
         """
         return self._calibrated
@@ -242,14 +241,13 @@ def set_calibrated(self) -> None:
         self._calibrated = True
 
     def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer) -> None:
-        """Set if the manipulator can move
+        """Set if the manipulator can move.
 
-        :param can_write: True if the manipulator can move, False otherwise
+        :param can_write: True if the manipulator can move, False otherwise.
         :type can_write: bool
-        :param hours: The number of hours to allow the manipulator to move (0 =
-            forever)
+        :param hours: The number of hours to allow the manipulator to move (0 = forever).
         :type hours: float
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
@@ -262,17 +260,17 @@ def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer
             self._reset_timer.start()
 
     def get_can_write(self) -> bool:
-        """Return if the manipulator can move
+        """Return if the manipulator can move.
 
-        :return: True if the manipulator can move, False otherwise
+        :return: True if the manipulator can move, False otherwise.
         :rtype: bool
         """
         return self._can_write
 
     def reset_can_write(self, sio: socketio.AsyncServer) -> None:
-        """Reset the :attr:`can_write` flag
+        """Reset the :attr:`can_write` flag.
 
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
@@ -280,16 +278,16 @@ def reset_can_write(self, sio: socketio.AsyncServer) -> None:
         asyncio.run(sio.emit("write_disabled", self._id))
 
     def set_inside_brain(self, inside: bool) -> None:
-        """Set if the manipulator is inside the brain
+        """Set if the manipulator is inside the brain.
 
-        :param inside: True if the manipulator is inside the brain, False otherwise
+        :param inside: True if the manipulator is inside the brain, False otherwise.
         :type inside: bool
         :return: None
         """
         self._inside_brain = inside
 
     def stop(self) -> None:
-        """Stop all axes on manipulator
+        """Stop all axes on manipulator.
 
         :returns None
         """
diff --git a/src/ephys_link/platforms/new_scale_pathfinder_handler.py b/src/ephys_link/platforms/new_scale_pathfinder_handler.py
index 408266c..7e6553a 100644
--- a/src/ephys_link/platforms/new_scale_pathfinder_handler.py
+++ b/src/ephys_link/platforms/new_scale_pathfinder_handler.py
@@ -7,7 +7,7 @@
 
 from __future__ import annotations
 
-from json import loads
+import json
 from typing import TYPE_CHECKING
 from urllib import request
 
@@ -87,21 +87,23 @@ def __init__(self, port: int = 8080) -> None:
             raise ValueError(msg) from e
 
     def query_data(self) -> dict:
-        """Query New Scale HTTP server for data and return as dict
+        """Query New Scale HTTP server for data and return as dict.
 
-        :return: dict of data (originally in JSON)
+        :return: Parsed JSON data from New Scale HTTP server.
+        :rtype: dict
         """
         try:
-            return loads(request.urlopen(f"http://localhost:{self.port}").read())
+            return json.loads(request.urlopen(f"http://localhost:{self.port}").read())
         except Exception as e:
             print(f"[ERROR]\t\t Unable to query for New Scale data: {type(e)} {e}\n")
 
     def query_manipulator_data(self, manipulator_id: str) -> dict:
-        """Query New Scale HTTP server for data on a specific manipulator
+        """Query New Scale HTTP server for data on a specific manipulator.
 
-        :param manipulator_id: manipulator ID
-        :return: dict of data (originally in JSON)
-        :raises ValueError: if manipulator ID is not found in query
+        :param manipulator_id: manipulator ID.
+        :return: Parsed JSON data for a particular manipulator.
+        :rtype: dict
+        :raises ValueError: if manipulator ID is not found in query.
         """
         data_query = self.query_data()["ProbeArray"]
         manipulator_data = data_query[self.manipulators[manipulator_id]]
@@ -176,12 +178,6 @@ def _get_pos(self, manipulator_id: str) -> com.PositionalOutputData:
         )
 
     def _get_angles(self, manipulator_id: str) -> com.AngularOutputData:
-        """Get the current angles of the manipulator in degrees
-
-        :param manipulator_id: manipulator ID
-        :return: Callback parameters (angles in (yaw, pitch, roll) (or an empty array on
-            error) in degrees, error message)
-        """
         manipulator_data = self.query_manipulator_data(manipulator_id)
 
         return com.AngularOutputData(
@@ -194,11 +190,6 @@ def _get_angles(self, manipulator_id: str) -> com.AngularOutputData:
         )
 
     def _get_shank_count(self, manipulator_id: str) -> com.ShankCountOutputData:
-        """Get the number of shanks on the probe
-
-        :param manipulator_id: manipulator ID
-        :return: Callback parameters (number of shanks (or -1 on error), error message)
-        """
         for probe in self.query_data()["ProbeArray"]:
             if probe["Id"] == manipulator_id:
                 return com.ShankCountOutputData(probe["ShankCount"], "")
@@ -206,16 +197,16 @@ def _get_shank_count(self, manipulator_id: str) -> com.ShankCountOutputData:
         return com.ShankCountOutputData(-1, "Unable to find manipulator")
 
     async def _goto_pos(self, manipulator_id: str, position: list[float], speed: int) -> com.PositionalOutputData:
-        pass
+        raise NotImplementedError
 
     async def _drive_to_depth(self, manipulator_id: str, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        pass
+        raise NotImplementedError
 
     def _set_inside_brain(self, manipulator_id: str, inside: bool) -> com.StateOutputData:
-        pass
+        raise NotImplementedError
 
     async def _calibrate(self, manipulator_id: str, sio: socketio.AsyncServer) -> str:
-        pass
+        raise NotImplementedError
 
     def _bypass_calibration(self, manipulator_id: str) -> str:
         return ""
@@ -227,10 +218,10 @@ def _set_can_write(
         hours: float,
         sio: socketio.AsyncServer,
     ) -> com.StateOutputData:
-        pass
+        raise NotImplementedError
 
     def _unified_space_to_platform_space(self, unified_position: list[float]) -> list[float]:
-        pass
+        raise NotImplementedError
 
     def _platform_space_to_unified_space(self, platform_position: list[float]) -> list[float]:
-        pass
+        raise NotImplementedError
diff --git a/src/ephys_link/platforms/sensapex_handler.py b/src/ephys_link/platforms/sensapex_handler.py
index 3b5fd16..c803eb6 100644
--- a/src/ephys_link/platforms/sensapex_handler.py
+++ b/src/ephys_link/platforms/sensapex_handler.py
@@ -1,10 +1,13 @@
 """Handle communications with Sensapex uMp API
 
+This supports the uMp-4 manipulator. Any Sensapex variants should extend this class.
+
 Implements Sensapex uMp specific API calls including coordinating the usage of the
 :class:`ephys_link.platforms.sensapex_manipulator.SensapexManipulator` class.
 
 This is a subclass of :class:`ephys_link.platform_handler.PlatformHandler`.
 """
+
 from __future__ import annotations
 
 from pathlib import Path
@@ -21,9 +24,9 @@
 
 
 class SensapexHandler(PlatformHandler):
-    """Handler for Sensapex platform"""
+    """Handler for Sensapex platform."""
 
-    def __init__(self):
+    def __init__(self) -> None:
         super().__init__()
 
         # Establish connection to Sensapex API (exit if connection fails)
diff --git a/src/ephys_link/platforms/sensapex_manipulator.py b/src/ephys_link/platforms/sensapex_manipulator.py
index 0b2f53c..2cab038 100644
--- a/src/ephys_link/platforms/sensapex_manipulator.py
+++ b/src/ephys_link/platforms/sensapex_manipulator.py
@@ -42,10 +42,9 @@ def __init__(self, device: SensapexDevice) -> None:
 
     # Device functions
     def get_pos(self) -> com.PositionalOutputData:
-        """Get the current position of the manipulator and convert it into mm
+        """Get the current position of the manipulator and convert it into mm.
 
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error) in mm, error message)
+        :return: Position in (x, y, z, w) (or an empty array on error) in mm and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         try:
@@ -58,14 +57,13 @@ def get_pos(self) -> com.PositionalOutputData:
             return com.PositionalOutputData([], "Error getting position")
 
     async def goto_pos(self, position: list[float], speed: float) -> com.PositionalOutputData:
-        """Move manipulator to position
+        """Move manipulator to position.
 
         :param position: The position to move to in mm
         :type position: list[float]
         :param speed: The speed to move at (in mm/s)
         :type speed: float
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error), error message)
+        :return: Resulting position in (x, y, z, w) (or an empty array on error) in mm and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         # Check if able to write
@@ -114,14 +112,14 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
             print(f"{e}\n")
             return com.PositionalOutputData([], "Error moving manipulator")
 
-    async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        """Drive the manipulator to a certain depth
+    async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOutputData:
+        """Drive the manipulator to a certain depth.
 
-        :param depth: The depth to drive to in mm
+        :param depth: The depth to drive to in mm.
         :type depth: float
         :param speed: The speed to drive at in mm/s
-        :type speed: int
-        :return: Callback parameters (depth (or 0 on error), error message)
+        :type speed: float
+        :return: Resulting depth in mm (or 0 on error) and error message (if any).
         :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
         """
         # Get position before this movement
@@ -138,33 +136,32 @@ async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutp
         return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
 
     def set_inside_brain(self, inside: bool) -> None:
-        """Set if the manipulator is inside the brain
+        """Set if the manipulator is inside the brain.
 
         Used to signal that the brain should move at :const:`INSIDE_BRAIN_SPEED_LIMIT`
 
-        :param inside: True if the manipulator is inside the brain, False otherwise
+        :param inside: True if the manipulator is inside the brain, False otherwise.
         :type inside: bool
         :return: None
         """
         self._inside_brain = inside
 
     def get_can_write(self) -> bool:
-        """Return if the manipulator can move
+        """Return if the manipulator can move.
 
-        :return: True if the manipulator can move, False otherwise
+        :return: True if the manipulator can move, False otherwise.
         :rtype: bool
         """
         return self._can_write
 
     def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer) -> None:
-        """Set if the manipulator can move
+        """Set if the manipulator can move.
 
-        :param can_write: True if the manipulator can move, False otherwise
+        :param can_write: True if the manipulator can move, False otherwise.
         :type can_write: bool
-        :param hours: The number of hours to allow the manipulator to move (0 =
-            forever)
+        :param hours: The number of hours to allow the manipulator to move (0 = forever).
         :type hours: float
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
@@ -177,9 +174,9 @@ def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer
             self._reset_timer.start()
 
     def reset_can_write(self, sio: socketio.AsyncServer) -> None:
-        """Reset the :attr:`can_write` flag
+        """Reset the :attr:`can_write` flag.
 
-        :param sio: SocketIO object from server to emit reset event
+        :param sio: SocketIO object from server to emit reset event.
         :type sio: :class:`socketio.AsyncServer`
         :return: None
         """
@@ -188,7 +185,7 @@ def reset_can_write(self, sio: socketio.AsyncServer) -> None:
 
     # Calibration
     def call_calibrate(self) -> None:
-        """Calibrate the manipulator
+        """Calibrate the manipulator.
 
         :return: None
         """
@@ -197,13 +194,13 @@ def call_calibrate(self) -> None:
     def get_calibrated(self) -> bool:
         """Return the calibration state of the manipulator.
 
-        :return: True if the manipulator is calibrated, False otherwise
+        :return: True if the manipulator is calibrated, False otherwise.
         :rtype: bool
         """
         return self._calibrated
 
     def set_calibrated(self) -> None:
-        """Set the manipulator to calibrated
+        """Set the manipulator to be calibrated.
 
         :return: None
         """
diff --git a/src/ephys_link/platforms/ump3_handler.py b/src/ephys_link/platforms/ump3_handler.py
index cf4d07a..7da5e6c 100644
--- a/src/ephys_link/platforms/ump3_handler.py
+++ b/src/ephys_link/platforms/ump3_handler.py
@@ -1,35 +1,24 @@
-from __future__ import annotations
+"""Handle communications with Sensapex uMp-3 API
 
-from pathlib import Path
-from typing import TYPE_CHECKING
+Uses the Sensapex uMp handler which implements for the uMp-4 manipulator
+and extends it to support the uMp-3 manipulator.
 
-from sensapex import UMP, UMError
+This is a subclass of :class:`ephys_link.platforms.sensapex_handler`.
+"""
 
-from ephys_link import common as com
-from ephys_link.platform_handler import PlatformHandler
-from ephys_link.platforms.ump3_manipulator import UMP3Manipulator
+from __future__ import annotations
 
-if TYPE_CHECKING:
-    import socketio
+from ephys_link.platforms.sensapex_handler import SensapexHandler
+from ephys_link.platforms.ump3_manipulator import UMP3Manipulator
 
 
-class UMP3Handler(PlatformHandler):
+class UMP3Handler(SensapexHandler):
     def __init__(self):
         super().__init__()
 
         self.num_axes = 3
         self.dimensions = [20, 20, 20]
 
-        # Establish connection to Sensapex API (exit if connection fails)
-        UMP.set_library_path(str(Path(__file__).parent.parent.absolute()) + "/resources/")
-        self.ump = UMP.get_ump()
-        if self.ump is None:
-            msg = "Unable to connect to uMp"
-            raise ValueError(msg)
-
-    def _get_manipulators(self) -> list:
-        return list(map(str, self.ump.list_devices()))
-
     def _register_manipulator(self, manipulator_id: str) -> None:
         if not manipulator_id.isnumeric():
             msg = "Manipulator ID must be numeric"
@@ -37,79 +26,6 @@ def _register_manipulator(self, manipulator_id: str) -> None:
 
         self.manipulators[manipulator_id] = UMP3Manipulator(self.ump.get_device(int(manipulator_id)))
 
-    def _unregister_manipulator(self, manipulator_id: str) -> None:
-        del self.manipulators[manipulator_id]
-
-    def _get_pos(self, manipulator_id: str) -> com.PositionalOutputData:
-        return self.manipulators[manipulator_id].get_pos()
-
-    def _get_angles(self, manipulator_id: str) -> com.AngularOutputData:
-        raise NotImplementedError
-
-    def _get_shank_count(self, manipulator_id: str) -> com.ShankCountOutputData:
-        raise NotImplementedError
-
-    async def _goto_pos(self, manipulator_id: str, position: list[float], speed: int) -> com.PositionalOutputData:
-        return await self.manipulators[manipulator_id].goto_pos(position, speed)
-
-    async def _drive_to_depth(self, manipulator_id: str, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        return await self.manipulators[manipulator_id].drive_to_depth(depth, speed)
-
-    def _set_inside_brain(self, manipulator_id: str, inside: bool) -> com.StateOutputData:
-        self.manipulators[manipulator_id].set_inside_brain(inside)
-        com.dprint(f"[SUCCESS]\t Set inside brain state for manipulator:" f" {manipulator_id}\n")
-        return com.StateOutputData(inside, "")
-
-    async def _calibrate(self, manipulator_id: str, sio: socketio.AsyncServer) -> str:
-        try:
-            # Move manipulator to max position
-            await self.manipulators[manipulator_id].goto_pos([20000, 20000, 20000], 2000)
-
-            # Call calibrate
-            self.manipulators[manipulator_id].call_calibrate()
-
-            # Wait for calibration to complete
-            still_working = True
-            while still_working:
-                cur_pos = self.manipulators[manipulator_id].get_pos()["position"]
-
-                # Check difference between current and target position
-                for prev, cur in zip([10000, 10000, 10000], cur_pos):
-                    if abs(prev - cur) > 1:
-                        still_working = True
-                        break
-                    still_working = False
-
-                # Sleep for a bit
-                await sio.sleep(0.5)
-
-            # Calibration complete
-            self.manipulators[manipulator_id].set_calibrated()
-            com.dprint(f"[SUCCESS]\t Calibrated manipulator {manipulator_id}\n")
-        except UMError as e:
-            # SDK call error
-            print(f"[ERROR]\t\t Calling calibrate manipulator {manipulator_id}")
-            print(f"{e}\n")
-            return "Error calling calibrate"
-        else:
-            return ""
-
-    def _bypass_calibration(self, manipulator_id: str) -> str:
-        self.manipulators[manipulator_id].set_calibrated()
-        com.dprint(f"[SUCCESS]\t Bypassed calibration for manipulator" f" {manipulator_id}\n")
-        return ""
-
-    def _set_can_write(
-        self,
-        manipulator_id: str,
-        can_write: bool,
-        hours: float,
-        sio: socketio.AsyncServer,
-    ) -> com.StateOutputData:
-        self.manipulators[manipulator_id].set_can_write(can_write, hours, sio)
-        com.dprint(f"[SUCCESS]\t Set can_write state for manipulator" f" {manipulator_id}\n")
-        return com.StateOutputData(can_write, "")
-
     def _platform_space_to_unified_space(self, platform_position: list[float]) -> list[float]:
         # unified   <-  platform
         # +x        <-  +y
diff --git a/src/ephys_link/platforms/ump3_manipulator.py b/src/ephys_link/platforms/ump3_manipulator.py
index b5a6be6..ccc5e6f 100644
--- a/src/ephys_link/platforms/ump3_manipulator.py
+++ b/src/ephys_link/platforms/ump3_manipulator.py
@@ -1,30 +1,25 @@
-"""Sensapex Manipulator class
+"""Sensapex uMp-3 Manipulator class
 
-Handles logic for calling Sensapex API functions. Also includes extra logic for safe
-function calls, error handling, managing per-manipulator attributes, and returning the
-appropriate callback parameters like in :mod:`ephys_link.sensapex_handler`.
+Extends from :class:`ephys_link.platforms.sensapex_manipulator.SensapexManipulator` to support the uMp-3 manipulator.
 """
 
 from __future__ import annotations
 
 import asyncio
-import threading
 from typing import TYPE_CHECKING
 
 import ephys_link.common as com
 from ephys_link.platform_manipulator import (
-    HOURS_TO_SECONDS,
     MM_TO_UM,
     POSITION_POLL_DELAY,
-    PlatformManipulator,
 )
+from ephys_link.platforms.sensapex_manipulator import SensapexManipulator
 
 if TYPE_CHECKING:
-    import socketio
     from sensapex import SensapexDevice
 
 
-class UMP3Manipulator(PlatformManipulator):
+class UMP3Manipulator(SensapexManipulator):
     """Representation of a single Sensapex manipulator
 
     :param device: A Sensapex device
@@ -36,16 +31,13 @@ def __init__(self, device: SensapexDevice) -> None:
 
         :param device: A Sensapex device
         """
-        super().__init__()
-        self._device = device
-        self._id = device.dev_id
+        super().__init__(device)
 
     # Device functions
     def get_pos(self) -> com.PositionalOutputData:
-        """Get the current position of the manipulator and convert it into mm
+        """Get the current position of the manipulator and convert it into mm.
 
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error) in mm, error message)
+        :return: Position in (x, y, z, x) (or an empty array on error) in mm and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         try:
@@ -62,14 +54,13 @@ def get_pos(self) -> com.PositionalOutputData:
             return com.PositionalOutputData([], "Error getting position")
 
     async def goto_pos(self, position: list[float], speed: float) -> com.PositionalOutputData:
-        """Move manipulator to position
+        """Move manipulator to position.
 
-        :param position: The position to move to in mm
+        :param position: The position to move to in mm.
         :type position: list[float]
-        :param speed: The speed to move at (in mm/s)
+        :param speed: The speed to move at (in mm/s).
         :type speed: float
-        :return: Callback parameters (position in (x, y, z, w) (or an empty array on
-            error), error message)
+        :return: Resulting position in (x, y, z, x) (or an empty array on error) in mm and error message (if any).
         :rtype: :class:`ephys_link.common.PositionalOutputData`
         """
         # Check if able to write
@@ -118,14 +109,14 @@ async def goto_pos(self, position: list[float], speed: float) -> com.PositionalO
             print(f"{e}\n")
             return com.PositionalOutputData([], "Error moving manipulator")
 
-    async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutputData:
-        """Drive the manipulator to a certain depth
+    async def drive_to_depth(self, depth: float, speed: float) -> com.DriveToDepthOutputData:
+        """Drive the manipulator to a certain depth.
 
-        :param depth: The depth to drive to in mm
+        :param depth: The depth to drive to in mm.
         :type depth: float
-        :param speed: The speed to drive at in mm/s
-        :type speed: int
-        :return: Callback parameters (depth (or 0 on error), error message)
+        :param speed: The speed to drive at in mm/s.
+        :type speed: float
+        :return: Resulting depth in mm (or 0 on error) and error message (if any).
         :rtype: :class:`ephys_link.common.DriveToDepthOutputData`
         """
         # Get position before this movement
@@ -140,84 +131,3 @@ async def drive_to_depth(self, depth: float, speed: int) -> com.DriveToDepthOutp
 
         # Return 0 and error message on failure
         return com.DriveToDepthOutputData(0, "Error driving " "manipulator")
-
-    def set_inside_brain(self, inside: bool) -> None:
-        """Set if the manipulator is inside the brain
-
-        Used to signal that the brain should move at :const:`INSIDE_BRAIN_SPEED_LIMIT`
-
-        :param inside: True if the manipulator is inside the brain, False otherwise
-        :type inside: bool
-        :return: None
-        """
-        self._inside_brain = inside
-
-    def get_can_write(self) -> bool:
-        """Return if the manipulator can move
-
-        :return: True if the manipulator can move, False otherwise
-        :rtype: bool
-        """
-        return self._can_write
-
-    def set_can_write(self, can_write: bool, hours: float, sio: socketio.AsyncServer) -> None:
-        """Set if the manipulator can move
-
-        :param can_write: True if the manipulator can move, False otherwise
-        :type can_write: bool
-        :param hours: The number of hours to allow the manipulator to move (0 =
-            forever)
-        :type hours: float
-        :param sio: SocketIO object from server to emit reset event
-        :type sio: :class:`socketio.AsyncServer`
-        :return: None
-        """
-        self._can_write = can_write
-
-        if can_write and hours > 0:
-            if self._reset_timer:
-                self._reset_timer.cancel()
-            self._reset_timer = threading.Timer(hours * HOURS_TO_SECONDS, self.reset_can_write, [sio])
-            self._reset_timer.start()
-
-    def reset_can_write(self, sio: socketio.AsyncServer) -> None:
-        """Reset the :attr:`can_write` flag
-
-        :param sio: SocketIO object from server to emit reset event
-        :type sio: :class:`socketio.AsyncServer`
-        :return: None
-        """
-        self._can_write = False
-        asyncio.run(sio.emit("write_disabled", self._id))
-
-    # Calibration
-    def call_calibrate(self) -> None:
-        """Calibrate the manipulator
-
-        :return: None
-        """
-        self._device.calibrate_zero_position()
-
-    def get_calibrated(self) -> bool:
-        """Return the calibration state of the manipulator.
-
-        :return: True if the manipulator is calibrated, False otherwise
-        :rtype: bool
-        """
-        return self._calibrated
-
-    def set_calibrated(self) -> None:
-        """Set the manipulator to calibrated
-
-        :return: None
-        """
-        self._calibrated = True
-
-    def stop(self) -> None:
-        """Stop the manipulator
-
-        :return: None
-        """
-        self._can_write = False
-        self._device.stop()
-        com.dprint(f"[SUCCESS]\t Stopped manipulator {self._id}")
diff --git a/src/ephys_link/server.py b/src/ephys_link/server.py
index 7877511..2dfd966 100644
--- a/src/ephys_link/server.py
+++ b/src/ephys_link/server.py
@@ -41,7 +41,7 @@ def __init__(self):
         # Is the server running?
         self.is_running = False
 
-        # Current platform handler
+        # Current platform handler (defaults to Sensapex)
         self.platform: PlatformHandler = importlib.import_module(
             "ephys_link.platforms.sensapex_handler"
         ).SensapexHandler()
@@ -69,13 +69,13 @@ def __init__(self):
         self.sio.on("*", self.catch_all)
 
     async def connect(self, sid, _, __) -> bool:
-        """Acknowledge connection to the server
+        """Acknowledge connection to the server.
 
-        :param sid: Socket session ID
+        :param sid: Socket session ID.
         :type sid: str
-        :param _: WSGI formatted dictionary with request info (unused)
+        :param _: WSGI formatted dictionary with request info (unused).
         :type _: dict
-        :param __: Authentication details (unused)
+        :param __: Authentication details (unused).
         :type __: dict
         :return: False on error to refuse connection. True otherwise.
         :rtype: bool
@@ -91,9 +91,9 @@ async def connect(self, sid, _, __) -> bool:
         return False
 
     async def disconnect(self, sid) -> None:
-        """Acknowledge disconnection from the server
+        """Acknowledge disconnection from the server.
 
-        :param sid: Socket session ID
+        :param sid: Socket session ID.
         :type sid: str
         :return: None
         """
@@ -106,21 +106,21 @@ async def disconnect(self, sid) -> None:
 
     @staticmethod
     async def get_version(_) -> str:
-        """Get the version number of the server
+        """Get the version number of the server.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :return: Version number as defined in __version__
+        :return: Version number as defined in :mod:`ephys_link.__about__`.
         :rtype: str
         """
         return version
 
     async def get_manipulators(self, _) -> str:
-        """Get the list of discoverable manipulators
+        """Get the list of discoverable manipulators.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :return: Callback as :class:`ephys_link.common.GetManipulatorsOutputData`
+        :return: :class:`ephys_link.common.GetManipulatorsOutputData` as JSON formatted string.
         :rtype: str
         """
         com.dprint("[EVENT]\t\t Get discoverable manipulators")
@@ -128,13 +128,13 @@ async def get_manipulators(self, _) -> str:
         return self.platform.get_manipulators().json()
 
     async def register_manipulator(self, _, manipulator_id: str) -> str:
-        """Register a manipulator with the server
+        """Register a manipulator with the server.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of the manipulator to register
+        :param manipulator_id: ID of the manipulator to register.
         :type manipulator_id: str
-        :return: Error message (on error)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         com.dprint(f"[EVENT]\t\t Register manipulator: {manipulator_id}")
@@ -142,13 +142,13 @@ async def register_manipulator(self, _, manipulator_id: str) -> str:
         return self.platform.register_manipulator(manipulator_id)
 
     async def unregister_manipulator(self, _, manipulator_id: str) -> str:
-        """Unregister a manipulator from the server
+        """Unregister a manipulator from the server.
 
         :param _: Socket session ID (unused)
         :type _: str
-        :param manipulator_id: ID of the manipulator to unregister
+        :param manipulator_id: ID of the manipulator to unregister.
         :type manipulator_id: str
-        :return: Error message (on error)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         com.dprint(f"[EVENT]\t\t Unregister manipulator: {manipulator_id}")
@@ -156,13 +156,13 @@ async def unregister_manipulator(self, _, manipulator_id: str) -> str:
         return self.platform.unregister_manipulator(manipulator_id)
 
     async def get_pos(self, _, manipulator_id: str) -> str:
-        """Position of manipulator request
+        """Position of manipulator request.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of manipulator to pull position from
+        :param manipulator_id: ID of manipulator to pull position from.
         :type manipulator_id: str
-        :return: Callback as :class:`ephys_link.common.PositionalOutputData`
+        :return: :class:`ephys_link.common.PositionalOutputData` as JSON formatted string.
         :rtype: str
         """
         # com.dprint(f"[EVENT]\t\t Get position of manipulator" f" {manipulator_id}")
@@ -170,39 +170,39 @@ async def get_pos(self, _, manipulator_id: str) -> str:
         return self.platform.get_pos(manipulator_id).json()
 
     async def get_angles(self, _, manipulator_id: str):
-        """Angles of manipulator request
+        """Angles of manipulator request.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of manipulator to pull angles from
+        :param manipulator_id: ID of manipulator to pull angles from.
         :type manipulator_id: str
-        :return: Callback as :class:`ephys_link.common.AngularOutputData`
+        :return: :class:`ephys_link.common.AngularOutputData` as JSON formatted string.
         :rtype: str
         """
 
         return self.platform.get_angles(manipulator_id).json()
 
     async def get_shank_count(self, _, manipulator_id: str) -> str:
-        """Number of shanks of manipulator request
+        """Number of shanks of manipulator request.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of manipulator to pull number of shanks from
+        :param manipulator_id: ID of manipulator to pull number of shanks from.
         :type manipulator_id: str
-        :return: Callback as :class:`ephys_link.common.ShankCountOutputData`
+        :return: :class:`ephys_link.common.ShankCountOutputData` as JSON formatted string.
         :rtype: str
         """
 
         return self.platform.get_shank_count(manipulator_id).json()
 
     async def goto_pos(self, _, data: str) -> str:
-        """Move manipulator to position
+        """Move manipulator to position.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param data: Data containing manipulator ID, position in mm, and speed in mm/s
-        :type data: :class:`ephys_link.common.GotoPositionInputDataFormat`
-        :return: Callback as :class:`ephys_link.common.PositionalOutputData`
+        :param data: :class:`ephys_link.common.GotoPositionInputDataFormat` as JSON formatted string.
+        :type data: str
+        :return: :class:`ephys_link.common.PositionalOutputData` as JSON formatted string.
         :rtype: str
         """
         try:
@@ -222,13 +222,13 @@ async def goto_pos(self, _, data: str) -> str:
             return goto_result.json()
 
     async def drive_to_depth(self, _, data: str) -> str:
-        """Drive to depth
+        """Drive to depth.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param data: Data containing manipulator ID, depth in mm, and speed in mm/s
-        :type data: :class:`ephys_link.common.DriveToDepthInputDataFormat`
-        :return: Callback as :class:`ephys_link.common.DriveToDepthOutputData`
+        :param data: :class:`ephys_link.common.DriveToDepthInputDataFormat` as JSON formatted string.
+        :type data: str
+        :return: :class:`ephys_link.common.DriveToDepthOutputData` as JSON formatted string.
         :rtype: str
         """
         try:
@@ -248,13 +248,13 @@ async def drive_to_depth(self, _, data: str) -> str:
             return drive_result.json()
 
     async def set_inside_brain(self, _, data: str) -> str:
-        """Set the inside brain state
+        """Set the inside brain state.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param data: Data containing manipulator ID and inside brain state
-        :type data: :class:`ephys_link.common.InsideBrainInputDataFormat`
-        :return: Callback as :class:`ephys_link.common.StateOutputData`:
+        :param data: :class:`ephys_link.common.InsideBrainInputDataFormat` as JSON formatted string.
+        :type data: str
+        :return: :class:`ephys_link.common.StateOutputData` as JSON formatted string.
         :rtype: str
         """
         try:
@@ -268,17 +268,17 @@ async def set_inside_brain(self, _, data: str) -> str:
             print(f"[ERROR]\t\t Error in inside_brain: {e}\n")
             return com.StateOutputData(False, "Error in set_inside_brain").json()
         else:
-            com.dprint(f"[EVENT]\t\t Set manipulator {manipulator_id} inside brain to {"true" if inside else "false"}")
+            com.dprint(f"[EVENT]\t\t Set manipulator {manipulator_id} inside brain to {inside}")
             return self.platform.set_inside_brain(manipulator_id, inside).json()
 
     async def calibrate(self, _, manipulator_id: str) -> str:
-        """Calibrate manipulator
+        """Calibrate manipulator.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of manipulator to calibrate
+        :param manipulator_id: ID of manipulator to calibrate.
         :type manipulator_id: str
-        :return: Error message (on error)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         com.dprint(f"[EVENT]\t\t Calibrate manipulator" f" {manipulator_id}")
@@ -286,13 +286,13 @@ async def calibrate(self, _, manipulator_id: str) -> str:
         return await self.platform.calibrate(manipulator_id, self.sio)
 
     async def bypass_calibration(self, _, manipulator_id: str) -> str:
-        """Bypass calibration of manipulator
+        """Bypass calibration of manipulator.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param manipulator_id: ID of manipulator to bypass calibration
+        :param manipulator_id: ID of manipulator to bypass calibration.
         :type manipulator_id: str
-        :return: Error message (on error)
+        :return: Error message on error, empty string otherwise.
         :rtype: str
         """
         com.dprint(f"[EVENT]\t\t Bypass calibration of manipulator" f" {manipulator_id}")
@@ -300,13 +300,13 @@ async def bypass_calibration(self, _, manipulator_id: str) -> str:
         return self.platform.bypass_calibration(manipulator_id)
 
     async def set_can_write(self, _, data: str) -> str:
-        """Set manipulator can_write state
+        """Set manipulator can_write state.
 
         :param _: Socket session ID (unused)
         :type _: str
-        :param data: Data containing manipulator ID and can_write brain state
-        :type data: :class:`ephys_link.common.CanWriteInputDataFormat`
-        :return: Callback as :class:`ephys_link.common.StateOutputData`
+        :param data: :class:`ephys_link.common.CanWriteInputDataFormat` as JSON formatted string.
+        :type data: str
+        :return: :class:`ephys_link.common.StateOutputData` as JSON formatted string.
         :rtype: str
         """
         try:
@@ -321,17 +321,15 @@ async def set_can_write(self, _, data: str) -> str:
             print(f"[ERROR]\t\t Error in inside_brain: {e}\n")
             return com.StateOutputData(False, "Error in set_can_write").json()
         else:
-            com.dprint(
-                f"[EVENT]\t\t Set manipulator {manipulator_id} can_write state to {"true" if can_write else "false"}"
-            )
+            com.dprint(f"[EVENT]\t\t Set manipulator {manipulator_id} can_write state to {can_write}")
             return self.platform.set_can_write(manipulator_id, can_write, hours, self.sio).json()
 
     def stop(self, _) -> bool:
-        """Stop all manipulators
+        """Stop all manipulators.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :return: True if successful, False otherwise
+        :return: True if successful, False otherwise.
         :rtype: bool
         """
         com.dprint("[EVENT]\t\t Stop all manipulators")
@@ -340,28 +338,28 @@ def stop(self, _) -> bool:
 
     @staticmethod
     async def catch_all(_, __, data: Any) -> str:
-        """Catch all event
+        """Catch all event.
 
-        :param _: Socket session ID (unused)
+        :param _: Socket session ID (unused).
         :type _: str
-        :param __: Client ID (unused)
+        :param __: Client ID (unused).
         :type __: str
-        :param data: Data received from client
+        :param data: Data received from client.
         :type data: Any
-        :return: "UNKNOWN_EVENT" response message
+        :return: "UNKNOWN_EVENT" response message.
         :rtype: str
         """
         print(f"[UNKNOWN EVENT]:\t {data}")
         return "UNKNOWN_EVENT"
 
     def launch_server(self, platform_type: str, server_port: int, pathfinder_port: int) -> None:
-        """Launch the server
+        """Launch the server.
 
-        :param platform_type: Parsed argument for platform type
+        :param platform_type: Parsed argument for platform type.
         :type platform_type: str
-        :param server_port: HTTP port to serve the server
+        :param server_port: HTTP port to serve the server.
         :type server_port: int
-        :param pathfinder_port: Port New Scale Pathfinder's server is on
+        :param pathfinder_port: Port New Scale Pathfinder's server is on.
         :type pathfinder_port: int
         :return: None
         """
@@ -395,7 +393,7 @@ def launch_server(self, platform_type: str, server_port: int, pathfinder_port: i
         web.run_app(self.app, port=server_port)
 
     def close_server(self, _, __) -> None:
-        """Close the server"""
+        """Close the server."""
         print("[INFO]\t\t Closing server")
 
         # Stop movement