add acceleration to tip_action

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

@@ -610,21 +610,15 @@ async def tip_action(
  axes: Sequence[Axis],
  distance: float,
  speed: float,
+ acceleration: float = 0,
  tip_action: str = "home",
  ) -> None:
  if tip_action == "home":
  speed = speed * -1
- runner = MoveGroupRunner(
- move_groups=create_tip_action_home_group(axes, distance, speed)
- )
- else:
- runner = MoveGroupRunner(
- move_groups=[
- create_tip_action_group(
- axes, distance, speed, cast(PipetteAction, tip_action)
- )
- ]
- )
+ move_group = create_tip_action_group(
+ axes, distance, speed, acceleration, cast(PipetteAction, tip_action)
+ )
+ runner = MoveGroupRunner(move_groups=[move_group])
  positions = await runner.run(can_messenger=self._messenger)
  for axis, point in positions.items():
  self._position.update({axis: point[0]})

api/src/opentrons/hardware_control/backends/ot3utils.py

@@ -211,7 +211,9 @@ def get_current_settings(
  config: OT3CurrentSettings,
  gantry_load: GantryLoad,
 ) -> OT3AxisMap[CurrentConfig]:
+ print(f"CONFIG = {config}")
  conf_by_pip = config.by_gantry_load(gantry_load)
+ print(f"conf_by_pip = {conf_by_pip}")
  currents = {}
  for axis_kind in conf_by_pip["hold_current"].keys():
  for axis in Axis.of_kind(axis_kind):
@@ -228,20 +230,25 @@ def get_system_constraints(
 ) -> "SystemConstraints[Axis]":
  conf_by_pip = config.by_gantry_load(gantry_load)
  constraints = {}
- for axis_kind in [
+ axis_kind = [
  OT3AxisKind.P,
  OT3AxisKind.X,
  OT3AxisKind.Y,
  OT3AxisKind.Z,
  OT3AxisKind.Z_G,
- ]:
- for axis in Axis.of_kind(axis_kind):
+ ]
+ if gantry_load == GantryLoad.HIGH_THROUGHPUT:
+ axis_kind.append(OT3AxisKind.Q)
+ for axis_kind in axis_kind:
+ for axis in OT3Axis.of_kind(axis_kind):
  constraints[axis] = AxisConstraints.build(
  conf_by_pip["acceleration"][axis_kind],
  conf_by_pip["max_speed_discontinuity"][axis_kind],
  conf_by_pip["direction_change_speed_discontinuity"][axis_kind],
  conf_by_pip["default_max_speed"][axis_kind],
  )
+
+
  return constraints
 
 
@@ -395,12 +402,17 @@ def create_tip_action_home_group(
 
 
 def create_tip_action_group(
- axes: Sequence[Axis], distance: float, velocity: float, action: PipetteAction
+ axes: Sequence[OT3Axis],
+ distance: float,
+ velocity: float,
+ acceleration: float,
+ action: PipetteAction,
 ) -> MoveGroup:
  current_nodes = [axis_to_node(ax) for ax in axes]
  step = create_tip_action_step(
  velocity={node_id: np.float64(velocity) for node_id in current_nodes},
  distance={node_id: np.float64(distance) for node_id in current_nodes},
+ acceleration={node_id: np.float64(acceleration) for node_id in current_nodes},
  present_nodes=current_nodes,
  action=PipetteTipActionType[action],
  )

api/src/opentrons/hardware_control/ot3api.py

@@ -1678,17 +1678,27 @@ async def _motor_pick_up_tip(
  )
  await self._move(target_down)
  # perform pick up tip
- await self._backend.tip_action(
- [Axis.of_main_tool_actuator(mount)],
- pipette_spec.pick_up_distance,
- pipette_spec.speed,
- "clamp",
- )
+
+ gear_origin_dict = {OT3Axis.Q: 0}
+ gear_motor_target = pipette_spec.pick_up_distance + pipette_spec.home_buffer
+ gear_target_dict = {OT3Axis.Q: gear_motor_target}
+ moves = self._build_moves(gear_origin_dict, gear_target_dict)
+ blocks = moves[0][0].blocks
+
+ for block in blocks:
+ await self._backend.tip_action(
+ [OT3Axis.of_main_tool_actuator(mount)],
+ block.distance,
+ block.final_speed,
+ block.acceleration,
+ "clamp",
+ )
  # back clamps off the adapter posts
  await self._backend.tip_action(
  [Axis.of_main_tool_actuator(mount)],
  pipette_spec.pick_up_distance + pipette_spec.home_buffer,
  pipette_spec.speed,
+ 0,
  "home",
  )
 

api/src/opentrons/hardware_control/types.py

@@ -165,7 +165,8 @@ def of_kind(cls, kind: OT3AxisKind) -> List["Axis"]:
  OT3AxisKind.Y: [cls.Y],
  OT3AxisKind.Z: [cls.Z_L, cls.Z_R],
  OT3AxisKind.Z_G: [cls.Z_G],
- OT3AxisKind.OTHER: [cls.Q, cls.G],
+ OT3AxisKind.Q: [cls.Q],
+ OT3AxisKind.OTHER: [cls.Q],
  }
  return kind_map[kind]
 

hardware/opentrons_hardware/firmware_bindings/constants.py

@@ -132,6 +132,8 @@ 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

hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py

@@ -272,6 +272,22 @@ 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

hardware/opentrons_hardware/firmware_bindings/messages/messages.py

@@ -35,6 +35,8 @@
  defs.MotorPositionResponse,
  defs.UpdateMotorPositionEstimationRequest,
  defs.UpdateMotorPositionEstimationResponse,
+ defs.UpdateGearMotorPositionEstimationRequest,
+ defs.UpdateGearMotorPositionEstimationResponse,
  defs.SetMotionConstraints,
  defs.GetMotionConstraintsRequest,
  defs.GetMotionConstraintsResponse,

hardware/opentrons_hardware/firmware_bindings/messages/payloads.py

@@ -225,6 +225,13 @@ class MoveCompletedPayload(MoveGroupResponsePayload):
  ack_id: utils.UInt8Field
 
 
+@dataclass(eq=False)
+class GearMotorPositionResponse(EmptyPayload):
+
+ current_position: utils.UInt32Field
+
+
+
 @dataclass(eq=False)
 class MotorPositionResponse(EmptyPayload):
  """Read Encoder Position."""
@@ -548,6 +555,7 @@ class TipActionRequestPayload(AddToMoveGroupRequestPayload):
  """A request to perform a tip action."""
 
  velocity: utils.Int32Field
+ acceleration: utils.Int32Field
  action: PipetteTipActionTypeField
  request_stop_condition: MoveStopConditionField
 

hardware/opentrons_hardware/hardware_control/motion.py

@@ -57,6 +57,7 @@ class MoveGroupTipActionStep:
  """A single tip handling action that requires movement in a move group."""
 
  velocity_mm_sec: np.float64
+ acceleration_mm_sec_sq: np.float64
  duration_sec: np.float64
  action: PipetteTipActionType
  stop_condition: MoveStopCondition
@@ -186,6 +187,7 @@ def create_tip_action_backoff_step(velocity: Dict[NodeId, np.float64]) -> MoveGr
 def create_tip_action_step(
  velocity: Dict[NodeId, np.float64],
  distance: Dict[NodeId, np.float64],
+ acceleration: Dict[NodeId, np.float64],
  present_nodes: Iterable[NodeId],
  action: PipetteTipActionType,
 ) -> MoveGroupStep:
@@ -199,6 +201,7 @@ def create_tip_action_step(
  for axis_node in present_nodes:
  step[axis_node] = MoveGroupTipActionStep(
  velocity_mm_sec=velocity[axis_node],
+ acceleration_mm_sec_sq=acceleration[axis_node],
  duration_sec=abs(distance[axis_node] / velocity[axis_node]),
  stop_condition=stop_condition,
  action=action,

hardware/opentrons_hardware/hardware_control/move_group_runner.py

@@ -324,6 +324,17 @@ def _get_tip_action_motor_message(
  velocity=self._convert_velocity(
  step.velocity_mm_sec, tip_interrupts_per_sec
  ),
+ acceleration=Int32Field(
+ int(
+ (
+ step.acceleration_mm_sec_sq
+ * 1000.0
+ / interrupts_per_sec
+ / interrupts_per_sec
+ )
+ * (2 ** 31)
+ )
+ ),
  action=PipetteTipActionTypeField(step.action),
  request_stop_condition=MoveStopConditionField(step.stop_condition),
  )