address change reqs

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

@@ -630,9 +630,10 @@ async def tip_action(
  tip_action: str = "home",
  back_off: Optional[bool] = False,
  ) -> None:
+ # TODO: split this into two functions for homing and 'clamp'
  move_group = []
  # make sure either moves or distance and velocity is not None
- assert any([moves, distance and velocity])
+ assert bool(moves) ^ (bool(distance) and bool(velocity))
  if moves is not None:
  move_group = create_tip_action_group(
  moves, [NodeId.pipette_left], tip_action
@@ -651,6 +652,8 @@ async def tip_action(
  self._gear_motor_position = {
  NodeId.pipette_left: positions[NodeId.pipette_left][0]
  }
+ else:
+ log.debug("no position returned from NodeId.pipette_left")
 
  @requires_update
  async def gripper_grip_jaw(