linter stuff cleanup

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -312,13 +312,10 @@ async def update_motor_status(self) -> None:
  response = await get_motor_position(self._messenger, motor_nodes)
  self._handle_motor_status_response(response)
 
-
-
  async def gear_motor_position_estimation(self) -> Tuple[float, bool]:
  response = await update_gear_motor_position_estimation(self._messenger)
 
  return response
- # self._position.update({OT3Axis.Q: response[0]})
 
  async def update_motor_estimation(self, axes: Sequence[OT3Axis]) -> None:
  """Update motor position estimation for commanded nodes, and update cache of data."""

api/src/opentrons/hardware_control/backends/ot3simulator.py

@@ -239,6 +239,10 @@ async def update_motor_status(self) -> None:
  (node, MotorStatus(True, True)) for node in self._present_nodes
  )
 
+ @ensure_yield
+ async def gear_motor_position_estimation(self) -> None:
+ return None
+
  @ensure_yield
  async def update_motor_estimation(self, axes: Sequence[OT3Axis]) -> None:
  """Update motor position estimation for commanded nodes, and update cache of data."""
@@ -363,10 +367,11 @@ async def tip_action(
  axes: Sequence[OT3Axis],
  distance: float = 33,
  speed: float = -5.5,
+ acceleration: float = 0,
  tip_action: str = "drop",
  ) -> None:
  _ = create_tip_action_group(
- axes, distance, speed, cast(PipetteAction, tip_action)
+ axes, distance, speed, acceleration, cast(PipetteAction, tip_action)
  )
 
  def _attached_to_mount(

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -218,16 +218,16 @@ def get_system_constraints(
 ) -> "SystemConstraints[OT3Axis]":
  conf_by_pip = config.by_gantry_load(gantry_load)
  constraints = {}
- axis_kind = [
+ axis_kind_list = [
  OT3AxisKind.P,
  OT3AxisKind.X,
  OT3AxisKind.Y,
  OT3AxisKind.Z,
  OT3AxisKind.Z_G,
  ]
  if gantry_load == GantryLoad.HIGH_THROUGHPUT:
- axis_kind.append(OT3AxisKind.Q)
- for axis_kind in axis_kind:
+ axis_kind_list.append(OT3AxisKind.Q)
+ for axis_kind in axis_kind_list:
  for axis in OT3Axis.of_kind(axis_kind):
  constraints[axis] = AxisConstraints.build(
  conf_by_pip["acceleration"][axis_kind],
@@ -236,7 +236,6 @@ def get_system_constraints(
  conf_by_pip["default_max_speed"][axis_kind],
  )
 
-
  return constraints
 
 

api/src/opentrons/hardware_control/ot3api.py

@@ -1600,9 +1600,6 @@ async def _force_pick_up_tip(
  )
  await self._move(target_up)
 
- async def get_gear_position(self):
- return await self._backend.gear_motor_position_estimation()
-
  async def _motor_pick_up_tip(
  self, mount: OT3Mount, pipette_spec: TipMotorPickUpTipSpec
  ) -> None:
@@ -1619,33 +1616,27 @@ async def _motor_pick_up_tip(
  await self._move(target_down)
  # perform pick up tip
 
- # gear_origin_dict = {OT3Axis.Q: 0}
  gear_motor_origin = await self._backend.gear_motor_position_estimation()
- gear_origin_dict = {
- OT3Axis.Q: gear_motor_origin[0]
- }
+ gear_origin_dict = {OT3Axis.Q: gear_motor_origin[0]}
  gear_motor_target = pipette_spec.pick_up_distance + pipette_spec.home_buffer
  gear_target_dict = {OT3Axis.Q: gear_motor_target}
  moves = self._build_moves(gear_origin_dict, gear_target_dict)
  blocks = moves[0][0].blocks
 
  for block in blocks:
- print(f"block speed = {block.initial_speed}")
- print(f"block acceleration = {block.acceleration}")
  await self._backend.tip_action(
-  [OT3Axis.of_main_tool_actuator(mount)],
-  block.distance,
-  block.initial_speed,
-  block.acceleration,
-  "clamp",
+ [OT3Axis.of_main_tool_actuator(mount)],
+ float(block.distance),
+ float(block.initial_speed),
+ float(block.acceleration),
+ "clamp",
  )
  # back clamps off the adapter posts
- print(f"pipette spec speed = {pipette_spec.speed}")
  await self._backend.tip_action(
  [OT3Axis.of_main_tool_actuator(mount)],
- pipette_spec.pick_up_distance + pipette_spec.home_buffer,
- (pipette_spec.speed - 1),
- 0,
+ float(pipette_spec.pick_up_distance + pipette_spec.home_buffer),
+ float(pipette_spec.speed),
+ float(0),
  "home",
  )
 
@@ -1700,7 +1691,7 @@ def set_working_volume(
  instrument.working_volume = tip_volume
 
  async def drop_tip(
- self, mount: Union[top_types.Mount, OT3Mount], home_after: bool = True
+ self, mount: Union[top_types.Mount, OT3Mount], home_after: bool = False
  ) -> None:
  """Drop tip at the current location."""
  realmount = OT3Mount.from_mount(mount)
@@ -1739,15 +1730,11 @@ async def drop_tip(
  speed=move.speed,
  home_flagged_axes=False,
  )
-  if move.home_after:
-  await self._home([OT3Axis.from_axis(ax) for ax in move.home_axes])
+ if move.home_after:
+ await self._home([OT3Axis.from_axis(ax) for ax in move.home_axes])
 
  for shake in spec.shake_moves:
  await self.move_rel(mount, shake[0], speed=shake[1])
-
- # home mount axis
- if home_after:
- await self._home([OT3Axis.by_mount(mount)])
 
  await self._backend.set_active_current(
  {

api/src/opentrons/hardware_control/types.py

@@ -117,7 +117,7 @@ class OT3AxisKind(enum.Enum):
  #: Plunger axis (of the left and right pipettes)
  Z_G = 4
  #: Gripper Z axis
- Q = 5
+ Q = 6
  #: High-throughput tip grabbing axis
  OTHER = 5
  #: The internal axes of high throughput pipettes, for instance
@@ -222,7 +222,7 @@ def to_kind(cls, axis: "OT3Axis") -> OT3AxisKind:
  cls.Z_L: OT3AxisKind.Z,
  cls.Z_R: OT3AxisKind.Z,
  cls.Z_G: OT3AxisKind.Z_G,
- cls.Q: OT3AxisKind.OTHER,
+ cls.Q: OT3AxisKind.Q,
  cls.G: OT3AxisKind.OTHER,
  }
  return kind_map[axis]
@@ -236,8 +236,7 @@ def of_kind(cls, kind: OT3AxisKind) -> List["OT3Axis"]:
  OT3AxisKind.Z: [cls.Z_L, cls.Z_R],
  OT3AxisKind.Z_G: [cls.Z_G],
  OT3AxisKind.Q: [cls.Q],
- OT3AxisKind.OTHER: [cls.Q],
- # OT3AxisKind.OTHER: [cls.G],
+ OT3AxisKind.OTHER: [cls.Q, cls.G],
  }
  return kind_map[kind]
 

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -1335,7 +1335,6 @@ async def test_save_instrument_offset(
  )
 
 
-
 async def test_pick_up_tip_full_tiprack(
  ot3_hardware: ThreadManager[OT3API],
  mock_instrument_handlers: Tuple[Mock],

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -273,16 +273,18 @@ class UpdateMotorPositionEstimationResponse(BaseMessage): # noqa: D101
 
 
 @dataclass
-class UpdateGearMotorPositionEstimationRequest(EmptyPayloadMessage): # noqa D101
+class UpdateGearMotorPositionEstimationRequest(EmptyPayloadMessage):  # noqa: D101
  message_id: Literal[
  MessageId.update_gear_motor_position_estimation_request
  ] = MessageId.update_gear_motor_position_estimation_request
 
 
 @dataclass
-class UpdateGearMotorPositionEstimationResponse(BaseMessage): # noqa D101
+class UpdateGearMotorPositionEstimationResponse(BaseMessage):  # noqa: D101
  payload: payloads.GearMotorPositionResponse
- payload_type: Type[payloads.GearMotorPositionResponse] = payloads.GearMotorPositionResponse
+ payload_type: Type[
+ payloads.GearMotorPositionResponse
+ ] = payloads.GearMotorPositionResponse
  message_id: Literal[
  MessageId.update_gear_motor_position_estimation_response
  ] = MessageId.update_gear_motor_position_estimation_response

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -225,11 +225,11 @@ class MoveCompletedPayload(MoveGroupResponsePayload):
 
 @dataclass(eq=False)
 class GearMotorPositionResponse(EmptyPayload):
+ """Read Gear Motor Position Estimation."""
 
  current_position: utils.UInt32Field
 
 
-
 @dataclass(eq=False)
 class MotorPositionResponse(EmptyPayload):
  """Read Encoder Position."""

hardware/opentrons_hardware/hardware_control/motor_position_status.py

@@ -157,20 +157,20 @@ async def update_gear_motor_position_estimation(
  """
 
  def _listener_filter(arbitration_id: ArbitrationId) -> bool:
- return (NodeId(arbitration_id.parts.originating_node_id) in {NodeId.pipette_left}) and (
+ return (
+ NodeId(arbitration_id.parts.originating_node_id) in {NodeId.pipette_left}
+ ) and (
  MessageId(arbitration_id.parts.message_id)
  == UpdateGearMotorPositionEstimationResponse.message_id
  )
 
  data = []
 
- # for node in nodes:
  with WaitableCallback(can_messenger, _listener_filter) as reader:
  await can_messenger.send(
  node_id=NodeId.pipette_left,
  message=UpdateGearMotorPositionEstimationRequest(),
  )
- print(f"SENT GEAR MOTOR ESTIMATION REQUEST")
  try:
  for i in range(2):
  response = await asyncio.wait_for(
@@ -199,7 +199,6 @@ async def _parser_update_gear_motor_position_response(
  reader: WaitableCallback, expected: NodeId
 ) -> Tuple[float, bool]:
  async for response, arb_id in reader:
- print(f"\nGOT RESPONSE {response}\n")
  assert isinstance(response, UpdateGearMotorPositionEstimationResponse)
  node = NodeId(arb_id.parts.originating_node_id)
  if node == expected:

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -92,8 +92,7 @@ def __init__(
  """
  self._move_groups = move_groups
  self._start_at_index = start_at_index
- # self._ignore_stalls = ignore_stalls
- self._ignore_stalls = True
+ self._ignore_stalls = ignore_stalls
  self._is_prepped: bool = False
 
  @staticmethod
@@ -311,12 +310,12 @@ def _get_tip_action_motor_message(
  acceleration=Int32Field(
  int(
  (
-  step.acceleration_mm_sec_sq
-  * 1000.0
-  / interrupts_per_sec
-  / interrupts_per_sec
+ step.acceleration_mm_sec_sq
+ * 1000.0
+ / interrupts_per_sec
+ / interrupts_per_sec
  )
- * (2 ** 31)
+ * (2**31)
  )
  ),
  action=PipetteTipActionTypeField(step.action),

hardware/opentrons_hardware/scripts/high_throughput_diagnostics.py

@@ -126,6 +126,7 @@ async def run_gear_motors(args: argparse.Namespace) -> None:
  {
  pipette_node: MoveGroupTipActionStep(
  velocity_mm_sec=float64(5.5),
+ acceleration_mm_sec_sq=float64(0),
  duration_sec=float64(2.5),
  stop_condition=MoveStopCondition.none,
  action=PipetteTipActionType.clamp,
@@ -140,6 +141,7 @@ async def run_gear_motors(args: argparse.Namespace) -> None:
  {
  pipette_node: MoveGroupTipActionStep(
  velocity_mm_sec=float64(-5.0),
+ acceleration_mm_sec_sq=float64(0),
  duration_sec=float64(6),
  stop_condition=MoveStopCondition.limit_switch,
  action=PipetteTipActionType.home,

hardware/opentrons_hardware/scripts/high_throughput_tip_handling.py

@@ -72,6 +72,7 @@ async def run(args: argparse.Namespace) -> None:
  {
  pipette_node: MoveGroupTipActionStep(
  velocity_mm_sec=float64(5.5),
+ acceleration_mm_sec_sq=float64(0),
  duration_sec=float64(2.5),
  stop_condition=MoveStopCondition.none,
  action=PipetteTipActionType.clamp,
@@ -86,6 +87,7 @@ async def run(args: argparse.Namespace) -> None:
  {
  pipette_node: MoveGroupTipActionStep(
  velocity_mm_sec=float64(-5.5),
+ acceleration_mm_sec_sq=float64(0),
  duration_sec=float64(6),
  stop_condition=MoveStopCondition.limit_switch,
  action=PipetteTipActionType.home,

hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py

@@ -120,6 +120,7 @@ def move_group_tip_action() -> MoveGroups:
  {
  NodeId.pipette_left: MoveGroupTipActionStep(
  velocity_mm_sec=float64(2),
+ acceleration_mm_sec_sq=float64(0),
  duration_sec=float64(1),
  action=PipetteTipActionType.clamp,
  stop_condition=MoveStopCondition.none,