remove updategearmotorpositionestimation msg

Opentrons · Jul 26, 2023 · 57bb955 · 57bb955
1 parent 2b71f07
commit 57bb955
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Showing 5 changed files with 3 additions and 26 deletions.
diff --git a/api/src/opentrons/hardware_control/backends/ot3controller.py b/api/src/opentrons/hardware_control/backends/ot3controller.py
@@ -631,6 +631,8 @@ async def tip_action(
  back_off: Optional[bool] = False,
  ) -> None:
  move_group = []
+ # make sure either moves or distance and velocity is not None
+ assert any([moves, distance and velocity])
  if moves is not None:
  move_group = create_tip_action_group(
  moves, [NodeId.pipette_left], tip_action
@@ -639,6 +641,7 @@ async def tip_action(
  move_group = create_gear_motor_home_group(
  float(distance), float(velocity), back_off
  )
+
  runner = MoveGroupRunner(
  move_groups=[move_group],
  ignore_stalls=True if not ff.stall_detection_enabled() else False,

diff --git a/api/src/opentrons/hardware_control/backends/ot3simulator.py b/api/src/opentrons/hardware_control/backends/ot3simulator.py
@@ -249,10 +249,6 @@ async def update_motor_status(self) -> None:
  (node, MotorStatus(True, True)) for node in self._present_nodes
  )
 
- @ensure_yield
- async def update_gear_motor_position(self) -> None:
- return None
-
  @ensure_yield
  async def home_gear_motors(
  self,

diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py
@@ -132,8 +132,6 @@ class MessageId(int, Enum):
  motor_position_response = 0x14
  update_motor_position_estimation_request = 0x21
  update_motor_position_estimation_response = 0x22
- update_gear_motor_position_estimation_request = 0x23
- update_gear_motor_position_estimation_response = 0x24
 
  set_motion_constraints = 0x101
  get_motion_constraints_request = 0x102

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
@@ -272,24 +272,6 @@ class UpdateMotorPositionEstimationResponse(BaseMessage): # noqa: D101
  ] = MessageId.update_motor_position_estimation_response
 
 
-@dataclass
-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
- payload: 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
-
-
 @dataclass
 class SetMotionConstraints(BaseMessage): # noqa: D101
  payload: payloads.MotionConstraintsPayload

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/messages.py b/hardware/opentrons_hardware/firmware_bindings/messages/messages.py
@@ -35,8 +35,6 @@
  defs.MotorPositionResponse,
  defs.UpdateMotorPositionEstimationRequest,
  defs.UpdateMotorPositionEstimationResponse,
- defs.UpdateGearMotorPositionEstimationRequest,
- defs.UpdateGearMotorPositionEstimationResponse,
  defs.SetMotionConstraints,
  defs.GetMotionConstraintsRequest,
  defs.GetMotionConstraintsResponse,