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feat(api): add liquid sensing functionality #11926

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merged 103 commits into from
Feb 21, 2023
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199f542
add liquidsenseparams class
caila-marashaj Dec 5, 2022
bf44b76
added liquid_probe ot3api function
caila-marashaj Dec 22, 2022
bf222dd
changed head node in build_pass_step
caila-marashaj Dec 22, 2022
981cbfb
fixed primary_mover bug
caila-marashaj Jan 4, 2023
6be190a
removing unneeded file
caila-marashaj Jan 4, 2023
f4d86e7
fixed robot defaults test
caila-marashaj Jan 5, 2023
5124c46
move threshold to settings, get rid of slot param
caila-marashaj Jan 5, 2023
2cc0393
changed threshold param from fixed pt to float
caila-marashaj Jan 5, 2023
b022804
get rid of axis_bounds change in ot3simulator
caila-marashaj Jan 5, 2023
c536ee0
remove extra function from ot3controller
caila-marashaj Jan 5, 2023
921be27
remove math imports
caila-marashaj Jan 5, 2023
5b6155a
moving intial move to tool_sensors
caila-marashaj Jan 6, 2023
26ea6e3
returns both mount and pipette_distance
caila-marashaj Jan 10, 2023
05cd1d3
test for ot3api
caila-marashaj Jan 20, 2023
5bb6af3
remove changes to test_ot3_controller
caila-marashaj Jan 20, 2023
6e5c2eb
remove stray changes
caila-marashaj Jan 20, 2023
e2e1417
stray include
caila-marashaj Jan 20, 2023
807adee
fixed docstrings, cleaned up tool_sensors logic
caila-marashaj Jan 20, 2023
afb65b1
got rid of stray word in docstring
caila-marashaj Jan 20, 2023
5058d78
fixing rebase
caila-marashaj Jan 20, 2023
365675a
updating MoveStopCondition
caila-marashaj Jan 20, 2023
725516d
typo
caila-marashaj Jan 20, 2023
54327bd
updating test values
caila-marashaj Jan 20, 2023
a3fa42c
add test mocks for homing
caila-marashaj Jan 20, 2023
0fcd545
tool_sensors change
caila-marashaj Jan 20, 2023
0e79b56
docstring fix
caila-marashaj Jan 20, 2023
1337105
choose any node for move duration
caila-marashaj Jan 20, 2023
5a65c32
change cap_sensor stop condition to sync line, add csv logging
caila-marashaj Jan 25, 2023
7c3d776
csv logging
caila-marashaj Jan 25, 2023
949608a
remove home z, clear position after errors
caila-marashaj Jan 25, 2023
327c864
fixed MoveConditionNotMet error message
caila-marashaj Jan 25, 2023
ec3d188
add logic for optional logging
caila-marashaj Jan 25, 2023
d5fdd6b
updating ot3simulator func signature
caila-marashaj Jan 25, 2023
b815989
remove docstring space
caila-marashaj Jan 25, 2023
c6d1c8c
format
caila-marashaj Jan 25, 2023
06e9b4f
removed sync_line change
caila-marashaj Jan 25, 2023
8105874
add liquidsenseparams class
caila-marashaj Dec 5, 2022
0f10569
added liquid_probe ot3api function
caila-marashaj Dec 22, 2022
5b904f8
changed head node in build_pass_step
caila-marashaj Dec 22, 2022
4c28ceb
fixed primary_mover bug
caila-marashaj Jan 4, 2023
cb4a19c
removing unneeded file
caila-marashaj Jan 4, 2023
69c3340
fixed robot defaults test
caila-marashaj Jan 5, 2023
65f16ed
move threshold to settings, get rid of slot param
caila-marashaj Jan 5, 2023
f2a234c
changed threshold param from fixed pt to float
caila-marashaj Jan 5, 2023
ab925b1
get rid of axis_bounds change in ot3simulator
caila-marashaj Jan 5, 2023
09e1140
remove extra function from ot3controller
caila-marashaj Jan 5, 2023
f066248
remove math imports
caila-marashaj Jan 5, 2023
d5b6f12
moving intial move to tool_sensors
caila-marashaj Jan 6, 2023
da4f6ef
returns both mount and pipette_distance
caila-marashaj Jan 10, 2023
aebadbe
test for ot3api
caila-marashaj Jan 20, 2023
b75c36e
remove changes to test_ot3_controller
caila-marashaj Jan 20, 2023
61eb028
remove stray changes
caila-marashaj Jan 20, 2023
d08f2be
stray include
caila-marashaj Jan 20, 2023
adb2cb7
fixed docstrings, cleaned up tool_sensors logic
caila-marashaj Jan 20, 2023
6ac82d1
got rid of stray word in docstring
caila-marashaj Jan 20, 2023
b4ac810
fixing rebase
caila-marashaj Jan 20, 2023
09a6f6a
updating MoveStopCondition
caila-marashaj Jan 20, 2023
5743115
typo
caila-marashaj Jan 20, 2023
82174cb
updating test values
caila-marashaj Jan 20, 2023
c696a13
add test mocks for homing
caila-marashaj Jan 20, 2023
a2e5b48
tool_sensors change
caila-marashaj Jan 20, 2023
c75ddf9
docstring fix
caila-marashaj Jan 20, 2023
7cb23a2
choose any node for move duration
caila-marashaj Jan 20, 2023
ee51600
change cap_sensor stop condition to sync line, add csv logging
caila-marashaj Jan 25, 2023
56c3d34
csv logging
caila-marashaj Jan 25, 2023
ec1f10f
remove home z, clear position after errors
caila-marashaj Jan 25, 2023
6eede77
fixed MoveConditionNotMet error message
caila-marashaj Jan 25, 2023
149c59c
add logic for optional logging
caila-marashaj Jan 25, 2023
f25d182
updating ot3simulator func signature
caila-marashaj Jan 25, 2023
879b0e2
remove docstring space
caila-marashaj Jan 25, 2023
9530278
format
caila-marashaj Jan 25, 2023
0655b6e
removed sync_line change
caila-marashaj Jan 25, 2023
7bda8f7
added liquid_probe ot3api function
caila-marashaj Dec 22, 2022
eba0b12
changed head node in build_pass_step
caila-marashaj Dec 22, 2022
da6b4c1
test for ot3api
caila-marashaj Jan 20, 2023
26d5cea
tool_sensors change
caila-marashaj Jan 20, 2023
28e7210
csv logging
caila-marashaj Jan 25, 2023
12657ac
add option to aspirate while sensing
caila-marashaj Jan 26, 2023
ce4a65c
change timing start
caila-marashaj Jan 26, 2023
058015a
add option to just report sensor readings
caila-marashaj Jan 27, 2023
00b7cd3
add read only option
caila-marashaj Jan 30, 2023
4f52b33
Merge branch 'edge' into RLIQ-69-hardware-control-liquid-sense
caila-marashaj Jan 30, 2023
3bf6884
fix syntax error
caila-marashaj Jan 30, 2023
d5e79d7
Merge branch 'RLIQ-69-hardware-control-liquid-sense' of https://githu…
Carlos-fernandez Jan 30, 2023
04e1334
timer fixed and rounded the timer to look cleaner
Carlos-fernandez Jan 31, 2023
1f63c0f
add context manager for better time logging
caila-marashaj Feb 7, 2023
91f6c8e
fix threading bug
caila-marashaj Feb 8, 2023
46ae9f3
update default values, remove stray comment
caila-marashaj Feb 8, 2023
4ec0ebc
Merge branch 'edge' into RLIQ-69-hardware-control-liquid-sense
caila-marashaj Feb 9, 2023
bb73515
rebase on edge
caila-marashaj Feb 9, 2023
fe8b132
updating branch
caila-marashaj Feb 13, 2023
47ba406
updating branch
caila-marashaj Feb 13, 2023
18986b3
test sensor bind_output calls
caila-marashaj Feb 14, 2023
792d744
some cleanup
caila-marashaj Feb 14, 2023
4d77fa8
move prep move to ot3api
caila-marashaj Feb 15, 2023
3979ecc
move max_z check to ot3api
caila-marashaj Feb 15, 2023
139335c
format
caila-marashaj Feb 15, 2023
a86fb9b
updating docstring
caila-marashaj Feb 16, 2023
90ebf12
generalize LogListener
caila-marashaj Feb 17, 2023
daea942
update unit tests
caila-marashaj Feb 17, 2023
2b3522c
take OT3Axis into liquid sensing errors
caila-marashaj Feb 17, 2023
58e821a
add new settings to robot config
caila-marashaj Feb 17, 2023
48691db
Merge branch 'edge' into RLIQ-69-hardware-control-liquid-sense
caila-marashaj Feb 17, 2023
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updating docstring
  • Loading branch information
caila-marashaj committed Feb 16, 2023
commit a86fb9bc13cbe37510ba63eea7761a77541ed467
7 changes: 3 additions & 4 deletions api/src/opentrons/hardware_control/ot3api.py
Original file line number Diff line number Diff line change
Expand Up @@ -1680,13 +1680,12 @@ async def liquid_probe(
) -> Tuple[float, float]:
"""Search for and return liquid level height.

This function makes sure the plunger motor is homed before starting.
After moving the mount the distance specified by starting_mount_height in the
LiquidProbeSettings, the mount and plunger motors will move simultaneously while
This function begins by moving the mount the distance specified by starting_mount_height in the
LiquidProbeSettings. After this, the mount and plunger motors will move simultaneously while
reading from the pressure sensor.

If the move is completed without the specified threshold being triggered, a
MoveConditionNotMet error will be thrown.
LiquidNotFound error will be thrown.
If the threshold is triggered before the minimum z distance has been traveled,
a EarlyLiquidSenseTrigger error will be thrown.

Expand Down