rough final draft

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

@@ -614,13 +614,13 @@ async def home(
  async with self._monitor_overpressure(moving_pipettes):
  positions = await asyncio.gather(*coros)
  # if Axis.Q in checked_axes:
-  # await self.tip_action(
-  # [Axis.Q],
-  # self.axis_bounds[Axis.Q][1] - self.axis_bounds[Axis.Q][0],
-  # self._configuration.motion_settings.max_speed_discontinuity.high_throughput[
-  # Axis.to_kind(Axis.Q)
-  # ],
-  # )
+ # await self.tip_action(
+ # [Axis.Q],
+ # self.axis_bounds[Axis.Q][1] - self.axis_bounds[Axis.Q][0],
+ # self._configuration.motion_settings.max_speed_discontinuity.high_throughput[
+ # Axis.to_kind(Axis.Q)
+ # ],
+ # )
  for position in positions:
  self._handle_motor_status_response(position)
  return axis_convert(self._position, 0.0)

api/src/opentrons/hardware_control/ot3api.py

@@ -1685,7 +1685,7 @@ async def _motor_pick_up_tip(
  ]
  gear_origin_dict = {Axis.Q: gear_origin_float}
  clamp_move_target = pipette_spec.pick_up_distance
- gear_target_dict = {AxisQ: clamp_move_target}
+ gear_target_dict = {Axis.Q: clamp_move_target}
  clamp_moves = self._build_moves(gear_origin_dict, gear_target_dict)
  await self._backend.tip_action(moves=clamp_moves[0], tip_action="clamp")
 

api/tests/opentrons/hardware_control/test_ot3_api.py

@@ -4,7 +4,7 @@
 from typing_extensions import Literal
 from math import copysign
 import pytest
-from mock import AsyncMock, patch, Mock, call, PropertyMock
+from mock import AsyncMock, patch, Mock, PropertyMock
 from hypothesis import given, strategies, settings, HealthCheck, assume, example
 
 from opentrons.calibration_storage.types import CalibrationStatus, SourceType
@@ -1381,7 +1381,7 @@ def _fake_function():
  )
 
  def _update_gear_motor_pos(
- moves: Optional[List[Move[OT3Axis]]] = None,
+ moves: Optional[List[Move[Axis]]] = None,
  distance: Optional[float] = None,
  velocity: Optional[float] = None,
  tip_action: str = "home",
@@ -1407,10 +1407,10 @@ def _update_gear_motor_pos(
  # breakpoint()
  # first call should be "clamp", moving down
  assert tip_action.call_args_list[0][-1]["tip_action"] == "clamp"
- assert tip_action.call_args_list[0][-1]["moves"][0].unit_vector == {AxisQ: 1}
+ assert tip_action.call_args_list[0][-1]["moves"][0].unit_vector == {Axis.Q: 1}
  # next call should be "clamp", moving back up
  assert tip_action.call_args_list[1][-1]["tip_action"] == "clamp"
- assert tip_action.call_args_list[1][-1]["moves"][0].unit_vector == {AxisQ: -1}
+ assert tip_action.call_args_list[1][-1]["moves"][0].unit_vector == {Axis.Q: -1}
  # last call should be "home"
  assert tip_action.call_args_list[2][-1]["tip_action"] == "home"
  assert len(tip_action.call_args_list) == 3
@@ -1434,7 +1434,7 @@ def _fake_function():
  drop_moves=[
  DropTipMove(
  target_position=10,
- current={AxisP_L: 1.0},
+ current={Axis.P_L: 1.0},
  speed=1,
  is_ht_tip_action=True,
  )
@@ -1446,7 +1446,7 @@ def _fake_function():
  )
 
  def _update_gear_motor_pos(
- moves: Optional[List[Move[OT3Axis]]] = None,
+ moves: Optional[List[Move[Axis]]] = None,
  distance: Optional[float] = None,
  velocity: Optional[float] = None,
  tip_action: str = "home",

hardware/opentrons_hardware/hardware_control/motor_position_status.py

@@ -100,7 +100,7 @@ async def _parser_update_motor_position_response(
  node = NodeId(arb_id.parts.originating_node_id)
  if node == expected:
  return (
- float(response.payload.current_position.value),
+ float(response.payload.current_position.value) / 1000.0,
  float(response.payload.encoder_position.value) / 1000.0,
  bool(
  response.payload.position_flags.value

hardware/tests/opentrons_hardware/hardware_control/test_move_group_runner.py

@@ -771,10 +771,10 @@ async def test_home_timeout(
  await subject.run(can_messenger=mock_can_messenger)
 
 
-async def test_tip_action_move_runner_receives_two_responses(
+async def test_tip_action_move_runner_receives_response(
  mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups
 ) -> None:
- """The magic call function should receive two responses for a tip action."""
+ """The magic call function should now receive one response for a tip action."""
  with patch.object(MoveScheduler, "_handle_move_completed") as mock_move_complete:
  subject = MoveScheduler(move_groups=move_group_tip_action)
  mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
@@ -785,22 +785,12 @@ async def test_tip_action_move_runner_receives_two_responses(
  assert isinstance(
  mock_move_complete.call_args_list[0][0][0], md.TipActionResponse
  )
- assert mock_move_complete.call_args_list[0][0][
- 0
- ].payload.gear_motor_id == GearMotorIdField(1)
-
- assert isinstance(
- mock_move_complete.call_args_list[1][0][0], md.TipActionResponse
- )
- assert mock_move_complete.call_args_list[1][0][
- 0
- ].payload.gear_motor_id == GearMotorIdField(0)
 
 
 async def test_tip_action_move_runner_position_updated(
  mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups
 ) -> None:
- """Two responses from a tip action move are properly handled."""
+ """Response from a tip action move is properly handled."""
  subject = MoveScheduler(move_groups=move_group_tip_action)
  mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
  mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send
@@ -810,17 +800,17 @@ async def test_tip_action_move_runner_position_updated(
  assert completion_message[0][1].payload.current_position_um.value == 2000
 
 
-async def test_tip_action_move_runner_fail_receives_one_response(
- mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, caplog: Any
-) -> None:
- """Tip action move should fail if one or less responses received."""
- subject = MoveScheduler(move_groups=move_group_tip_action)
- mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
- mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send_failure
- mock_can_messenger.send.side_effect = mock_sender.mock_send_failure
+# async def test_tip_action_move_runner_fail_receives_one_response(
+#  mock_can_messenger: AsyncMock, move_group_tip_action: MoveGroups, caplog: Any
+# ) -> None:
+#  """Tip action move should fail if one or less responses received."""
+#  subject = MoveScheduler(move_groups=move_group_tip_action)
+#  mock_sender = MockSendMoveCompleter(move_group_tip_action, subject)
+#  mock_can_messenger.ensure_send.side_effect = mock_sender.mock_ensure_send_failure
+#  mock_can_messenger.send.side_effect = mock_sender.mock_send_failure
 
- with pytest.raises(MotionFailedError):
-   await subject.run(can_messenger=mock_can_messenger)
+ # with pytest.raises(MotionFailedError):
+ # await subject.run(can_messenger=mock_can_messenger)
 
 
 async def test_multi_group_move(