fix(engine): home gripper z when not using virtual gripper #11811
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Codecov Report
@@ Coverage Diff @@
## edge #11811 +/- ##
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Coverage 74.15% 74.15%
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Files 2107 2107
Lines 58510 58510
Branches 6224 6224
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Hits 43387 43387
Misses 13656 13656
Partials 1467 1467
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mcous
approved these changes
Dec 2, 2022
SyntaxColoring
approved these changes
Dec 2, 2022
y3rsh
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Dec 5, 2022
* origin/edge: feat(app): add new config value to store sortKey for protocols (#11787) fix(app-shell): dispatch DOWNLOAD_LOGS_DONE when download cancelled (#11798) refactor(shared-data): Remove OT-2 calibration points from OT-3 deck def (#11816) docs(api): clarify Thermocycler GEN2 plate lift feature (#11817) refactor(api): add homing commands to engine cores (#11805) add a labware dropped error (#11814) feature(hardware): broadcast a stop message when a critical error is detected (#11813) feature(hardware): refactor hardware controller to watch for valid responses and error messages (#11789) fix(app): pick up tip from last tip rack in LPC if heater shaker is loaded into 1 or 3 (#11796) refactor(labware-library): update test guide links (#11809) fix(engine): home gripper z when not using virtual gripper (#11811)
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Overview
In the hassle of testing and speedy fix merging, #11800 got merged with a typo that could potentially reintroduce freezing during cancellation, or in the least, cause gripper to not retract correctly if protocol is cancelled when gripper is lowered. This fixes that issue.
Changelog
Review requests
This was tested on the robot yesterday so code review should be enough.
Risk assessment
Low.